agenticros 0.1.9 → 0.1.10

package/dist/menu.js

@@ -60,7 +60,7 @@ export async function runMenu() {
                 choices: [
                     { name: "2-wheel AMR (camera + depth + LiDAR)", value: "sim-amr" },
                     {
-                        name: "6-DOF arm (UR5e + MoveIt2)  [needs ros-humble-moveit, ~400 MB]",
+                        name: "6-DOF arm (UR5e-shaped, per-joint position control)",
                         value: "sim-arm",
                     },
                 ],

package/dist/menu.js.map

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "agenticros",
-  "version": "0.1.9",
+  "version": "0.1.10",
   "type": "module",
   "description": "AgenticROS - agentic AI for ROS-powered robots. Single CLI to launch real-robot or simulated demos, manage configuration, and inspect status.",
   "keywords": [

package/runtime/BUNDLE.json

@@ -1,5 +1,5 @@
 {
-  "packedAt": "2026-06-05T23:23:33.790Z",
+  "packedAt": "2026-06-06T13:54:42.821Z",
   "repo": "https://github.com/PlaiPin/agenticros",
   "note": "This directory is a snapshot of the agenticros monorepo source. `agenticros init` will copy it to ~/agenticros and run pnpm install + colcon build there.",
   "layout": {

package/runtime/ros2_ws/src/agenticros_sim/README.md

@@ -1,9 +1,9 @@
 # agenticros_sim
 
 Gazebo Harmonic simulation assets for the AgenticROS project: an indoor world,
-a 2-wheel diff-drive AMR with a depth camera + 2D lidar + IMU, and a `ros_gz_
-bridge` config that exposes everything on the topic names the real-robot
-plugin already expects.
+a 2-wheel diff-drive AMR (depth camera + 2D lidar + IMU), a 6-DOF UR5e-shaped
+robotic arm, and a `ros_gz_bridge` config that exposes everything on the topic
+names the real-robot plugin already expects.
 
 ## What's inside
 
@@ -11,13 +11,20 @@ plugin already expects.
 agenticros_sim/
 ├── worlds/agenticros_indoor.sdf       12 x 12 m indoor room with obstacles
 │                                      and one "person" target for follow-me
-├── models/agenticros_amr/              2-wheel diff-drive AMR with sensors
-│   ├── model.config
-│   └── model.sdf
+├── models/
+│   ├── agenticros_amr/                 2-wheel diff-drive AMR with sensors
+│   └── agenticros_arm/                 6-DOF UR5e-shaped robotic arm
+├── urdf/
+│   ├── agenticros_amr.urdf.xacro       URDF mirror for RViz (AMR)
+│   └── agenticros_arm.urdf.xacro       URDF mirror for RViz (arm)
 ├── config/
-│   ├── amr_bridge.yaml                 gz <-> ROS topic mapping
-│   └── amr_view.rviz                   RViz config showing camera, scan, TF
-├── launch/sim_amr.launch.py            One-stop launcher
+│   ├── amr_bridge.yaml                 gz <-> ROS topic mapping (AMR)
+│   ├── amr_view.rviz                   RViz config: camera, scan, TF
+│   ├── arm_bridge.yaml                 gz <-> ROS topic mapping (arm)
+│   └── arm_view.rviz                   RViz config: RobotModel + TF
+├── launch/
+│   ├── sim_amr.launch.py               One-stop launcher (AMR)
+│   └── sim_arm.launch.py               One-stop launcher (arm)
 ├── env-hooks/                          Add the package's share/ to GZ_SIM_RESOURCE_PATH
 └── CMakeLists.txt + package.xml        Standard ament_cmake skeleton
 ```
@@ -26,18 +33,50 @@ agenticros_sim/
 
 ```bash
 # Easiest: use the agenticros CLI (handles ROS sourcing + workspace build).
-agenticros up sim-amr            # GUI
-agenticros up sim-amr --rviz     # GUI + RViz panel
-agenticros up sim-amr --no-camera # (no effect for sim - flag is real-only)
+agenticros up sim-amr            # AMR: GUI
+agenticros up sim-amr --rviz     # AMR: GUI + RViz panel
+agenticros up sim-arm            # Arm: GUI
+agenticros up sim-arm --rviz     # Arm: GUI + RViz (RobotModel + TF)
 
-# Or run the launch file directly:
+# Or run the launch files directly:
 cd ros2_ws && colcon build --symlink-install --packages-select agenticros_sim
 source install/setup.bash
 ros2 launch agenticros_sim sim_amr.launch.py
 ros2 launch agenticros_sim sim_amr.launch.py use_rviz:=true
 ros2 launch agenticros_sim sim_amr.launch.py gui:=false      # headless
+ros2 launch agenticros_sim sim_arm.launch.py
+ros2 launch agenticros_sim sim_arm.launch.py use_rviz:=true
 ```
 
+## Arm topic layout
+
+The arm exposes one position-command topic per joint plus the usual
+`/joint_states`, `/tf`, and `/clock`. Send a target angle in radians as a
+`std_msgs/Float64` and the PD controller drives the joint there.
+
+| Topic                              | Type                          | Direction |
+|------------------------------------|-------------------------------|-----------|
+| `/arm/shoulder_pan/cmd_pos`        | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/shoulder_lift/cmd_pos`       | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/elbow/cmd_pos`               | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_1/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_2/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/arm/wrist_3/cmd_pos`             | `std_msgs/msg/Float64`        | ROS -> GZ |
+| `/joint_states`                    | `sensor_msgs/msg/JointState`  | GZ -> ROS |
+| `/tf`, `/tf_static`                | `tf2_msgs/msg/TFMessage`      | GZ -> ROS |
+| `/clock`                           | `rosgraph_msgs/msg/Clock`     | GZ -> ROS |
+
+Example - wave the elbow back and forth from the command line:
+
+```bash
+ros2 topic pub /arm/elbow/cmd_pos std_msgs/msg/Float64 'data: 1.0' --once
+sleep 2
+ros2 topic pub /arm/elbow/cmd_pos std_msgs/msg/Float64 'data: -0.5' --once
+```
+
+The same via an MCP `ros2_publish` tool call from Claude / Codex / Gemini works
+identically.
+
 ## Topic layout
 
 The bridge YAML deliberately matches the real-robot AgenticROS plugin's topic

package/runtime/ros2_ws/src/agenticros_sim/config/arm_bridge.yaml

@@ -0,0 +1,84 @@
+# arm_bridge.yaml
+#
+# Bridge config for the 6-DOF agenticros_arm sim. Feeds ros_gz_bridge's
+# parameter_bridge so Gazebo Harmonic topics produced by the arm's
+# JointPositionController + JointStatePublisher + PosePublisher plugins
+# are exposed as the ROS 2 topics agent code expects.
+#
+# Direction notation:
+#   GZ_TO_ROS   — gazebo publishes, ROS subscribes (joint feedback, TF, clock)
+#   ROS_TO_GZ   — ROS publishes, gazebo subscribes (joint commands)
+#   BIDIRECTIONAL — rarely needed
+#
+# Topic naming convention: /arm/<joint>/cmd_pos for joint commands. Same
+# naming pattern across all six joints so a Claude / Codex / Gemini
+# `ros2_publish` tool call only needs to vary the joint name.
+
+# ---------------- Clock (GZ -> ROS) ----------------
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# ---------------- /tf  (GZ -> ROS) ----------------
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/agenticros_arm/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf_static"
+  gz_topic_name: "/model/agenticros_arm/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+# ---------------- Joint feedback (GZ -> ROS) ----------------
+# robot_state_publisher consumes this to update the URDF transforms in
+# RViz and to publish per-link /tf entries. The gz topic name matches the
+# <topic>joint_states</topic> field on the SDF's JointStatePublisher
+# plugin (gz-sim treats that as the literal topic, no model prefix).
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/joint_states"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+
+# ---------------- Joint position commands (ROS -> GZ) ----------------
+# Send std_msgs/Float64 (radians) to any of these to drive a joint.
+- ros_topic_name: "/arm/shoulder_pan/cmd_pos"
+  gz_topic_name: "/arm/shoulder_pan/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/shoulder_lift/cmd_pos"
+  gz_topic_name: "/arm/shoulder_lift/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/elbow/cmd_pos"
+  gz_topic_name: "/arm/elbow/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_1/cmd_pos"
+  gz_topic_name: "/arm/wrist_1/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_2/cmd_pos"
+  gz_topic_name: "/arm/wrist_2/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/arm/wrist_3/cmd_pos"
+  gz_topic_name: "/arm/wrist_3/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ

package/runtime/ros2_ws/src/agenticros_sim/config/arm_view.rviz

@@ -0,0 +1,109 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 600
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.5
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 12
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.15
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.4
+        Y: 0
+        Z: 0.4
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.35
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 0.785
+    Saved: ~

package/runtime/ros2_ws/src/agenticros_sim/launch/sim_arm.launch.py

@@ -0,0 +1,223 @@
+"""sim_arm.launch.py
+
+Bring up the AgenticROS 6-DOF arm in Gazebo (Fortress / ign-gazebo 6 on
+Humble Jetson, or Harmonic / gz-sim 8 on Jazzy) with full ROS-side
+plumbing:
+  * gz sim agenticros_indoor.sdf                  (the world)
+  * ros_gz_sim create                             (spawn the arm)
+  * ros_gz_bridge parameter_bridge                (gz <-> ROS topics)
+  * robot_state_publisher (URDF mirror)           (for RViz RobotModel)
+  * Optional RViz (--rviz launch arg)
+
+Joint commands are exposed as std_msgs/Float64 (radians) on:
+  /arm/shoulder_pan/cmd_pos
+  /arm/shoulder_lift/cmd_pos
+  /arm/elbow/cmd_pos
+  /arm/wrist_1/cmd_pos
+  /arm/wrist_2/cmd_pos
+  /arm/wrist_3/cmd_pos
+
+Examples:
+  ros2 launch agenticros_sim sim_arm.launch.py
+  ros2 launch agenticros_sim sim_arm.launch.py use_rviz:=true
+  ros2 launch agenticros_sim sim_arm.launch.py gui:=false       # headless
+"""
+
+from __future__ import annotations
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchContext, LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+    TimerAction,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch_ros.substitutions import FindPackageShare
+
+
+PKG_NAME = "agenticros_sim"
+
+# Default "home" pose, published once after spawn so the arm settles in a
+# stable known configuration instead of whatever gravity happens to find:
+#   shoulder_pan  =  0          (forward)
+#   shoulder_lift = -pi/2       (upper arm up)
+#   elbow         =  pi/2       (forearm horizontal, forming an L)
+#   wrist_*       =  0
+HOME_POSE = {
+    "shoulder_pan":  0.0,
+    "shoulder_lift": -1.5707963,
+    "elbow":          1.5707963,
+    "wrist_1":        0.0,
+    "wrist_2":        0.0,
+    "wrist_3":        0.0,
+}
+
+
+def generate_launch_description() -> LaunchDescription:
+    pkg_share = get_package_share_directory(PKG_NAME)
+    default_world = os.path.join(pkg_share, "worlds", "agenticros_indoor.sdf")
+    default_bridge = os.path.join(pkg_share, "config", "arm_bridge.yaml")
+    default_rviz = os.path.join(pkg_share, "config", "arm_view.rviz")
+    model_sdf = os.path.join(pkg_share, "models", "agenticros_arm", "model.sdf")
+    urdf_xacro = os.path.join(pkg_share, "urdf", "agenticros_arm.urdf.xacro")
+
+    world_arg = DeclareLaunchArgument(
+        "world", default_value=default_world,
+        description="SDF world file to load (absolute path).",
+    )
+    use_rviz_arg = DeclareLaunchArgument(
+        "use_rviz", default_value="false",
+        description="Open RViz with the arm view config.",
+    )
+    use_sim_time_arg = DeclareLaunchArgument(
+        "use_sim_time", default_value="true",
+        description="Tell ROS nodes to use /clock published by gz.",
+    )
+    # Spawn the arm well away from the AMR spawn point (which is 0,0) so users
+    # running the indoor world can see both side by side if curious.
+    x_arg = DeclareLaunchArgument("x", default_value="3.0", description="Arm spawn X (m)")
+    y_arg = DeclareLaunchArgument("y", default_value="0.0", description="Arm spawn Y (m)")
+    z_arg = DeclareLaunchArgument("z", default_value="0.0", description="Arm spawn Z (m)")
+    yaw_arg = DeclareLaunchArgument("yaw", default_value="0.0", description="Arm yaw (rad)")
+    bridge_arg = DeclareLaunchArgument(
+        "bridge_config_file", default_value=default_bridge,
+        description="ros_gz_bridge parameter_bridge config YAML.",
+    )
+    gui_arg = DeclareLaunchArgument(
+        "gui", default_value="true",
+        description="If 'false', run gz-sim headless (-s -r).",
+    )
+    rviz_config_arg = DeclareLaunchArgument(
+        "rviz_config", default_value=default_rviz,
+        description="RViz config path (used when use_rviz is true).",
+    )
+
+    # ---------- Spawn the arm ----------
+    spawn_arm = Node(
+        package="ros_gz_sim",
+        executable="create",
+        name="spawn_agenticros_arm",
+        output="screen",
+        arguments=[
+            "-name", "agenticros_arm",
+            "-file", model_sdf,
+            "-x", LaunchConfiguration("x"),
+            "-y", LaunchConfiguration("y"),
+            "-z", LaunchConfiguration("z"),
+            "-Y", LaunchConfiguration("yaw"),
+        ],
+    )
+
+    # ---------- gz <-> ROS bridge ----------
+    bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="agenticros_arm_bridge",
+        output="screen",
+        parameters=[{
+            "config_file": LaunchConfiguration("bridge_config_file"),
+            "qos_overrides./tf_static.publisher.durability": "transient_local",
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+        }],
+    )
+
+    # ---------- robot_state_publisher (URDF mirror of the SDF) ----------
+    # Without this, RViz only has TF axes and won't draw the arm. The URDF is
+    # purely for visualization; physics, joint controllers, and gravity all
+    # live in the SDF.
+    # NOTE: `Command(... on_stderr='ignore')` keeps xacro's "redefining global
+    # symbol: pi" warnings from aborting the launch.
+    robot_description = ParameterValue(
+        Command(["xacro ", urdf_xacro], on_stderr="ignore"), value_type=str,
+    )
+    rsp = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{
+            "robot_description": robot_description,
+            "use_sim_time": LaunchConfiguration("use_sim_time"),
+        }],
+    )
+
+    # ---------- Redundant home-pose publisher ----------
+    # The SDF already sets <initial_position> on the joints and the
+    # JointPositionController plugins so the arm spawns at home pose and
+    # the controllers hold it there immediately. This timer is a safety
+    # net: if a user `gz service`-spawned a fresh arm from a controller
+    # config that didn't include initial_position, this still gets it
+    # into a sane pose.
+    #
+    # `ros2 topic pub --once` is unreliable: the publisher exits before
+    # discovery completes, so the bridge often drops the message.
+    # `--times 5 --rate 5` publishes 5 copies over 1 s, which is enough
+    # for the bridge subscription to come up and consume at least one.
+    home_publishers = [
+        ExecuteProcess(
+            cmd=[
+                "ros2", "topic", "pub", "--times", "5", "--rate", "5",
+                f"/arm/{joint}/cmd_pos", "std_msgs/msg/Float64",
+                f"{{data: {angle}}}",
+            ],
+            output="log",
+        )
+        for joint, angle in HOME_POSE.items()
+    ]
+    home_pose_action = TimerAction(period=8.0, actions=home_publishers)
+
+    # ---------- Optional RViz ----------
+    rviz = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+        condition=IfCondition(LaunchConfiguration("use_rviz")),
+        arguments=["-d", LaunchConfiguration("rviz_config")],
+        parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
+    )
+
+    return LaunchDescription([
+        world_arg,
+        use_rviz_arg,
+        use_sim_time_arg,
+        x_arg, y_arg, z_arg, yaw_arg,
+        bridge_arg,
+        gui_arg,
+        rviz_config_arg,
+        OpaqueFunction(function=_launch_gz_sim),
+        spawn_arm,
+        bridge,
+        rsp,
+        home_pose_action,
+        rviz,
+    ])
+
+
+def _launch_gz_sim(context: LaunchContext, *_, **__):
+    """Resolve launch args and emit the gz_sim IncludeLaunchDescription action."""
+    gui = context.launch_configurations.get("gui", "true").lower() == "true"
+    world = context.launch_configurations.get(
+        "world",
+        os.path.join(get_package_share_directory(PKG_NAME), "worlds", "agenticros_indoor.sdf"),
+    )
+    gz_args = f"-r {world}" if gui else f"-r -s --headless-rendering {world}"
+
+    gz_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [FindPackageShare("ros_gz_sim"), "launch", "gz_sim.launch.py"]
+            )
+        ),
+        launch_arguments=[("gz_args", gz_args)],
+    )
+    return [gz_launch]

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_amr/model.sdf

@@ -20,7 +20,7 @@
     lidar scan            → /scan
     imu                   → /imu/data
 -->
-<sdf version="1.10">
+<sdf version="1.9">
   <model name="agenticros_amr">
 
     <!-- ===================== Chassis ===================== -->

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_arm/model.config

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<model>
+  <name>agenticros_arm</name>
+  <version>1.0</version>
+  <sdf version="1.10">model.sdf</sdf>
+  <author>
+    <name>AgenticROS</name>
+    <email>hello@agenticros.dev</email>
+  </author>
+  <description>
+    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.
+  </description>
+</model>

package/runtime/ros2_ws/src/agenticros_sim/models/agenticros_arm/model.sdf

@@ -0,0 +1,426 @@
+<?xml version="1.0"?>
+<!--
+  agenticros_arm/model.sdf
+
+  6-DOF UR5e-shaped robotic arm for the AgenticROS Phase 3 demo.
+
+  Why "UR5e-shaped" rather than the actual UR description package:
+    * No apt deps. The ur_description package is ~50 MB and requires a
+      slew of ros-humble-ur-* trees we don't otherwise need. This file
+      gives the same visual silhouette and joint topology with nothing
+      but cylinders.
+    * Self-contained physics. All joint inertias, limits, and damping
+      are tuned here so the arm stays upright under gravity without
+      ros2_control or MoveIt2.
+    * Easy to author the URDF mirror (urdf/agenticros_arm.urdf.xacro)
+      because we control the link geometry directly.
+
+  Joint chain (matches the UR5e topology so MoveIt2 IK could be layered
+  on later in Phase 3b without changing the SDF):
+
+    base_link  --shoulder_pan_joint (Z)--> shoulder_link
+              --shoulder_lift_joint (Y)--> upper_arm_link
+              --elbow_joint         (Y)--> forearm_link
+              --wrist_1_joint       (Y)--> wrist_1_link
+              --wrist_2_joint       (Z)--> wrist_2_link
+              --wrist_3_joint       (Y)--> wrist_3_link
+              --fixed                  --> tool0  (end-effector frame)
+
+  Control surface (Gazebo side; ros_gz_bridge re-emits as ROS topics):
+
+    cmd  to   /arm/JOINT/cmd_pos        type=gz.msgs.Double   ROS_TO_GZ
+    fb   from /joint_states             type=gz.msgs.Model    GZ_TO_ROS
+    tf   from /model/agenticros_arm/pose and /pose_static
+
+  Send a single joint angle as ROS std_msgs/Float64 to e.g.
+  /arm/shoulder_pan/cmd_pos and the JointPositionController plugin below
+  drives the joint to that angle with a PD loop (kp=500, kd=50). The
+  arm reaches the target in ~1-2 s and holds against gravity.
+
+  Limits:
+    shoulder_pan, elbow, wrist_   : +/-pi   rad
+    shoulder_lift                  : +/-pi/2 rad (prevents self-collision)
+    velocity                       : 2 rad/s  effort: 30 Nm
+
+  NOTE on physics tuning: link masses are heavier than the real UR5e
+  on purpose - higher inertia keeps PD control numerically stable on
+  the relatively coarse default gz physics step (1 ms). If you want a
+  snappier feel, drop the masses by 50% and bump kp to ~800.
+-->
+<sdf version="1.9">
+  <model name="agenticros_arm">
+
+    <!-- ============================================================
+         Static pedestal. world_joint pins this to the world so the
+         arm doesn't drift sideways when the wrist is moving.
+         ============================================================ -->
+    <link name="base_link">
+      <pose>0 0 0.075 0 0 0</pose>
+      <inertial>
+        <mass>10.0</mass>
+        <inertia>
+          <ixx>0.05</ixx><iyy>0.05</iyy><izz>0.05</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.08</radius><length>0.15</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.08</radius><length>0.15</length></cylinder></geometry>
+        <material>
+          <ambient>0.15 0.15 0.15 1</ambient>
+          <diffuse>0.20 0.20 0.20 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="world_joint" type="fixed">
+      <parent>world</parent>
+      <child>base_link</child>
+    </joint>
+
+    <!-- ============================================================
+         shoulder_link  (rotated around Z by shoulder_pan_joint)
+         ============================================================ -->
+    <link name="shoulder_link">
+      <pose>0 0 0.205 0 0 0</pose>
+      <inertial>
+        <mass>3.0</mass>
+        <inertia>
+          <ixx>0.008</ixx><iyy>0.008</iyy><izz>0.005</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.07</radius><length>0.10</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.07</radius><length>0.10</length></cylinder></geometry>
+        <material>
+          <ambient>0.20 0.45 0.70 1</ambient>
+          <diffuse>0.25 0.50 0.75 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="shoulder_pan_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>shoulder_link</child>
+      <pose>0 0 0.075 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.14159</lower><upper>3.14159</upper>
+          <velocity>2.0</velocity><effort>30.0</effort>
+        </limit>
+        <dynamics><damping>2.0</damping><friction>0.5</friction></dynamics>
+      </axis>
+    </joint>
+
+    <!-- ============================================================
+         upper_arm_link  (rotated around Y by shoulder_lift_joint)
+         The link's own frame has its long axis along +X so that
+         positive shoulder_lift swings the arm "up and forward".
+         ============================================================ -->
+    <link name="upper_arm_link">
+      <pose>0.20 0 0.255 0 1.5707963 0</pose>
+      <inertial>
+        <mass>4.0</mass>
+        <inertia>
+          <ixx>0.02</ixx><iyy>0.06</iyy><izz>0.06</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.045</radius><length>0.40</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.045</radius><length>0.40</length></cylinder></geometry>
+        <material>
+          <ambient>0.85 0.55 0.10 1</ambient>
+          <diffuse>0.95 0.60 0.10 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="shoulder_lift_joint" type="revolute">
+      <parent>shoulder_link</parent>
+      <child>upper_arm_link</child>
+      <pose>0 0 0.05 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.5707</lower><upper>1.5707</upper>
+          <velocity>2.0</velocity><effort>30.0</effort>
+        </limit>
+        <dynamics><damping>2.0</damping><friction>0.5</friction></dynamics>
+        <!-- Home: -pi/2 rotates the upper arm UP so gravity loads less.
+             Without this the arm spawns horizontal and visibly sags
+             before the PD controller catches up. -->
+        <initial_position>-1.5707963</initial_position>
+      </axis>
+    </joint>
+
+    <!-- ============================================================
+         forearm_link  (rotated around Y by elbow_joint)
+         ============================================================ -->
+    <link name="forearm_link">
+      <pose>0.575 0 0.255 0 1.5707963 0</pose>
+      <inertial>
+        <mass>2.5</mass>
+        <inertia>
+          <ixx>0.012</ixx><iyy>0.04</iyy><izz>0.04</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.035</radius><length>0.35</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.035</radius><length>0.35</length></cylinder></geometry>
+        <material>
+          <ambient>0.85 0.55 0.10 1</ambient>
+          <diffuse>0.95 0.60 0.10 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="elbow_joint" type="revolute">
+      <parent>upper_arm_link</parent>
+      <child>forearm_link</child>
+      <pose>0 0 0.20 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-3.14159</lower><upper>3.14159</upper>
+          <velocity>2.0</velocity><effort>30.0</effort>
+        </limit>
+        <dynamics><damping>1.5</damping><friction>0.5</friction></dynamics>
+        <!-- Home: +pi/2 puts the forearm horizontal forming an L with the
+             upper arm (which is at -pi/2). This is the "ready to grasp"
+             pose; without it the elbow spawns straight and the arm sticks
+             out vertically. -->
+        <initial_position>1.5707963</initial_position>
+      </axis>
+    </joint>
+
+    <!-- ============================================================
+         wrist_1_link  (rotated around Y by wrist_1_joint)
+         ============================================================ -->
+    <link name="wrist_1_link">
+      <pose>0.80 0 0.255 0 1.5707963 0</pose>
+      <inertial>
+        <mass>0.8</mass>
+        <inertia>
+          <ixx>0.001</ixx><iyy>0.001</iyy><izz>0.001</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.032</radius><length>0.10</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.032</radius><length>0.10</length></cylinder></geometry>
+        <material>
+          <ambient>0.20 0.45 0.70 1</ambient>
+          <diffuse>0.25 0.50 0.75 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="wrist_1_joint" type="revolute">
+      <parent>forearm_link</parent>
+      <child>wrist_1_link</child>
+      <pose>0 0 0.175 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-3.14159</lower><upper>3.14159</upper>
+          <velocity>2.0</velocity><effort>15.0</effort>
+        </limit>
+        <dynamics><damping>1.0</damping><friction>0.3</friction></dynamics>
+      </axis>
+    </joint>
+
+    <!-- ============================================================
+         wrist_2_link  (rotated around Z by wrist_2_joint)
+         ============================================================ -->
+    <link name="wrist_2_link">
+      <pose>0.875 0 0.255 0 0 0</pose>
+      <inertial>
+        <mass>0.6</mass>
+        <inertia>
+          <ixx>0.0008</ixx><iyy>0.0008</iyy><izz>0.0008</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.030</radius><length>0.08</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.030</radius><length>0.08</length></cylinder></geometry>
+        <material>
+          <ambient>0.85 0.55 0.10 1</ambient>
+          <diffuse>0.95 0.60 0.10 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="wrist_2_joint" type="revolute">
+      <parent>wrist_1_link</parent>
+      <child>wrist_2_link</child>
+      <pose>0 0 0.075 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.14159</lower><upper>3.14159</upper>
+          <velocity>2.0</velocity><effort>15.0</effort>
+        </limit>
+        <dynamics><damping>1.0</damping><friction>0.3</friction></dynamics>
+      </axis>
+    </joint>
+
+    <!-- ============================================================
+         wrist_3_link  (rotated around Y by wrist_3_joint).
+         Has a fixed end-effector frame `tool0` at the tip - this is
+         what MoveIt2 / IK code targets in Phase 3b.
+         ============================================================ -->
+    <link name="wrist_3_link">
+      <pose>0.945 0 0.255 0 1.5707963 0</pose>
+      <inertial>
+        <mass>0.4</mass>
+        <inertia>
+          <ixx>0.0004</ixx><iyy>0.0004</iyy><izz>0.0004</izz>
+          <ixy>0</ixy><ixz>0</ixz><iyz>0</iyz>
+        </inertia>
+      </inertial>
+      <collision name="col">
+        <geometry><cylinder><radius>0.026</radius><length>0.06</length></cylinder></geometry>
+      </collision>
+      <visual name="vis">
+        <geometry><cylinder><radius>0.026</radius><length>0.06</length></cylinder></geometry>
+        <material>
+          <ambient>0.20 0.45 0.70 1</ambient>
+          <diffuse>0.25 0.50 0.75 1</diffuse>
+        </material>
+      </visual>
+      <!-- Tip marker so users can see "this is where tool0 lives" -->
+      <visual name="tool0_tip">
+        <pose>0 0 0.04 0 0 0</pose>
+        <geometry><sphere><radius>0.015</radius></sphere></geometry>
+        <material>
+          <ambient>0.9 0.1 0.1 1</ambient>
+          <diffuse>1.0 0.1 0.1 1</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <joint name="wrist_3_joint" type="revolute">
+      <parent>wrist_2_link</parent>
+      <child>wrist_3_link</child>
+      <pose>0 0 0.04 0 0 0</pose>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-3.14159</lower><upper>3.14159</upper>
+          <velocity>2.0</velocity><effort>10.0</effort>
+        </limit>
+        <dynamics><damping>0.5</damping><friction>0.2</friction></dynamics>
+      </axis>
+    </joint>
+
+    <!-- ===================== Plugins ===================== -->
+
+    <!--
+      One JointPositionController per joint. Each subscribes to a gz topic
+      of the form /arm/<joint>/cmd_pos (gz.msgs.Double). ros_gz_bridge
+      then re-exposes each as a ROS std_msgs/Float64 of the same name.
+
+      PD gains are deliberately high so the arm holds against gravity
+      without an integral term (which can cause oscillation in gz's
+      relatively coarse default step).
+
+      Plugin filename:
+        We use the "ignition-gazebo-*" prefix (Fortress / ign-gazebo 6)
+        rather than the more modern "gz-sim-*" prefix because the
+        ros-humble-ros-gz-bridge that ships with Humble is linked
+        against Fortress (libignition-msgs8 / libignition-transport11).
+        Fortress *does* ship a backward-compat shim that maps
+        "gz-sim-diff-drive-system" -> the Fortress library, which is
+        why agenticros_amr's diff-drive plugin works under the
+        gz-sim-* name; but no equivalent shim exists for the joint
+        position controller. Using the Fortress-native filename here
+        is the only one that loads reliably on Jetson Humble.
+
+        If you migrate this stack to Jazzy / Harmonic later, switch
+        the six filenames below to "gz-sim-joint-position-controller-system".
+    -->
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>shoulder_pan_joint</joint_name>
+      <topic>/arm/shoulder_pan/cmd_pos</topic>
+      <p_gain>800</p_gain><d_gain>80</d_gain><i_gain>0</i_gain>
+      <cmd_max>100</cmd_max><cmd_min>-100</cmd_min>
+    </plugin>
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>shoulder_lift_joint</joint_name>
+      <topic>/arm/shoulder_lift/cmd_pos</topic>
+      <p_gain>1200</p_gain><d_gain>120</d_gain><i_gain>0</i_gain>
+      <cmd_max>100</cmd_max><cmd_min>-100</cmd_min>
+      <!-- Match the joint's <initial_position> so the controller's first
+           setpoint isn't 0 (which would jerk the arm down at startup). -->
+      <initial_position>-1.5707963</initial_position>
+    </plugin>
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>elbow_joint</joint_name>
+      <topic>/arm/elbow/cmd_pos</topic>
+      <p_gain>800</p_gain><d_gain>80</d_gain><i_gain>0</i_gain>
+      <cmd_max>80</cmd_max><cmd_min>-80</cmd_min>
+      <initial_position>1.5707963</initial_position>
+    </plugin>
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>wrist_1_joint</joint_name>
+      <topic>/arm/wrist_1/cmd_pos</topic>
+      <p_gain>400</p_gain><d_gain>40</d_gain><i_gain>0</i_gain>
+      <cmd_max>15</cmd_max><cmd_min>-15</cmd_min>
+    </plugin>
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>wrist_2_joint</joint_name>
+      <topic>/arm/wrist_2/cmd_pos</topic>
+      <p_gain>300</p_gain><d_gain>30</d_gain><i_gain>0</i_gain>
+      <cmd_max>15</cmd_max><cmd_min>-15</cmd_min>
+    </plugin>
+    <plugin filename="ignition-gazebo-joint-position-controller-system"
+            name="gz::sim::systems::JointPositionController">
+      <joint_name>wrist_3_joint</joint_name>
+      <topic>/arm/wrist_3/cmd_pos</topic>
+      <p_gain>200</p_gain><d_gain>20</d_gain><i_gain>0</i_gain>
+      <cmd_max>10</cmd_max><cmd_min>-10</cmd_min>
+    </plugin>
+
+    <!-- Publishes /joint_states (used by robot_state_publisher + RViz). -->
+    <plugin filename="gz-sim-joint-state-publisher-system"
+            name="gz::sim::systems::JointStatePublisher">
+      <topic>joint_states</topic>
+    </plugin>
+
+    <!-- Publishes each link's pose as /tf so RViz can render motion. -->
+    <plugin filename="gz-sim-pose-publisher-system"
+            name="gz::sim::systems::PosePublisher">
+      <publish_link_pose>true</publish_link_pose>
+      <publish_sensor_pose>false</publish_sensor_pose>
+      <publish_collision_pose>false</publish_collision_pose>
+      <publish_visual_pose>false</publish_visual_pose>
+      <publish_nested_model_pose>false</publish_nested_model_pose>
+      <use_pose_vector_msg>true</use_pose_vector_msg>
+      <static_publisher>true</static_publisher>
+      <static_update_frequency>1</static_update_frequency>
+    </plugin>
+
+  </model>
+</sdf>

package/runtime/ros2_ws/src/agenticros_sim/urdf/agenticros_arm.urdf.xacro

@@ -0,0 +1,205 @@
+<?xml version="1.0"?>
+<!--
+  agenticros_arm.urdf.xacro
+
+  URDF mirror of models/agenticros_arm/model.sdf, fed to robot_state_publisher
+  so RViz's RobotModel display can render the arm. The forward-kinematics
+  topology MUST match the SDF link-by-link or RViz will draw the arm in the
+  wrong pose:
+
+    base_link -> shoulder_pan_joint     -> shoulder_link
+              -> shoulder_lift_joint    -> upper_arm_link
+              -> elbow_joint            -> forearm_link
+              -> wrist_1_joint          -> wrist_1_link
+              -> wrist_2_joint          -> wrist_2_link
+              -> wrist_3_joint          -> wrist_3_link
+              -> fixed                  -> tool0
+
+  Conventions:
+    * Each joint origin is expressed in its PARENT link's frame.
+    * Cylinder visuals are drawn along the link's local +Z by default; we
+      rotate them where needed to lay them flat along +X (matching how the
+      SDF orients each link via its <pose>).
+    * Joint axes match the SDF exactly (Z for pan/wrist_2, Y for the rest).
+    * Joint limits match the SDF; URDF doesn't really use them for
+      visualization but MoveIt2 (Phase 3b) will.
+
+  Physics, sensors, gravity tuning, and PD gains all live in the SDF; this
+  file is purely for visualization in RViz.
+-->
+<robot name="agenticros_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- ===== material palette (matches the SDF colours) ===== -->
+  <material name="agros_dark">  <color rgba="0.20 0.20 0.20 1"/></material>
+  <material name="agros_blue">  <color rgba="0.25 0.50 0.75 1"/></material>
+  <material name="agros_orange"><color rgba="0.95 0.60 0.10 1"/></material>
+  <material name="agros_red">   <color rgba="1.00 0.10 0.10 1"/></material>
+
+  <!-- ============================================================
+       base_link  (static pedestal, fixed to world)
+       ============================================================ -->
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0.075" rpy="0 0 0"/>
+      <geometry><cylinder radius="0.08" length="0.15"/></geometry>
+      <material name="agros_dark"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.075" rpy="0 0 0"/>
+      <geometry><cylinder radius="0.08" length="0.15"/></geometry>
+    </collision>
+    <inertial>
+      <mass value="10.0"/>
+      <inertia ixx="0.05" iyy="0.05" izz="0.05" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+
+  <!-- ============================================================
+       shoulder_link  (rotated around Z)
+       ============================================================ -->
+  <link name="shoulder_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry><cylinder radius="0.07" length="0.10"/></geometry>
+      <material name="agros_blue"/>
+    </visual>
+    <inertial>
+      <mass value="3.0"/>
+      <inertia ixx="0.008" iyy="0.008" izz="0.005" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link"/>
+    <child  link="shoulder_link"/>
+    <origin xyz="0 0 0.205" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159" upper="3.14159" velocity="2.0" effort="30.0"/>
+  </joint>
+
+  <!-- ============================================================
+       upper_arm_link  (rotated around Y) - laid along +X
+       ============================================================ -->
+  <link name="upper_arm_link">
+    <visual>
+      <origin xyz="0.20 0 0" rpy="0 1.5707963 0"/>
+      <geometry><cylinder radius="0.045" length="0.40"/></geometry>
+      <material name="agros_orange"/>
+    </visual>
+    <inertial>
+      <mass value="4.0"/>
+      <inertia ixx="0.02" iyy="0.06" izz="0.06" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child  link="upper_arm_link"/>
+    <origin xyz="0 0 0.05" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.5707" upper="1.5707" velocity="2.0" effort="30.0"/>
+  </joint>
+
+  <!-- ============================================================
+       forearm_link  (rotated around Y)
+       ============================================================ -->
+  <link name="forearm_link">
+    <visual>
+      <origin xyz="0.175 0 0" rpy="0 1.5707963 0"/>
+      <geometry><cylinder radius="0.035" length="0.35"/></geometry>
+      <material name="agros_orange"/>
+    </visual>
+    <inertial>
+      <mass value="2.5"/>
+      <inertia ixx="0.012" iyy="0.04" izz="0.04" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child  link="forearm_link"/>
+    <origin xyz="0.40 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14159" upper="3.14159" velocity="2.0" effort="30.0"/>
+  </joint>
+
+  <!-- ============================================================
+       wrist_1_link  (rotated around Y)
+       ============================================================ -->
+  <link name="wrist_1_link">
+    <visual>
+      <origin xyz="0.05 0 0" rpy="0 1.5707963 0"/>
+      <geometry><cylinder radius="0.032" length="0.10"/></geometry>
+      <material name="agros_blue"/>
+    </visual>
+    <inertial>
+      <mass value="0.8"/>
+      <inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child  link="wrist_1_link"/>
+    <origin xyz="0.35 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14159" upper="3.14159" velocity="2.0" effort="15.0"/>
+  </joint>
+
+  <!-- ============================================================
+       wrist_2_link  (rotated around Z)
+       ============================================================ -->
+  <link name="wrist_2_link">
+    <visual>
+      <origin xyz="0 0 0.04" rpy="0 0 0"/>
+      <geometry><cylinder radius="0.030" length="0.08"/></geometry>
+      <material name="agros_orange"/>
+    </visual>
+    <inertial>
+      <mass value="0.6"/>
+      <inertia ixx="0.0008" iyy="0.0008" izz="0.0008" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child  link="wrist_2_link"/>
+    <origin xyz="0.10 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159" upper="3.14159" velocity="2.0" effort="15.0"/>
+  </joint>
+
+  <!-- ============================================================
+       wrist_3_link  (rotated around Y)
+       ============================================================ -->
+  <link name="wrist_3_link">
+    <visual>
+      <origin xyz="0.03 0 0" rpy="0 1.5707963 0"/>
+      <geometry><cylinder radius="0.026" length="0.06"/></geometry>
+      <material name="agros_blue"/>
+    </visual>
+    <inertial>
+      <mass value="0.4"/>
+      <inertia ixx="0.0004" iyy="0.0004" izz="0.0004" ixy="0" ixz="0" iyz="0"/>
+    </inertial>
+  </link>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child  link="wrist_3_link"/>
+    <origin xyz="0 0 0.08" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14159" upper="3.14159" velocity="2.0" effort="10.0"/>
+  </joint>
+
+  <!-- ============================================================
+       tool0 (end-effector frame). Tipped with a small red sphere so
+       the user can see "this is what an IK solver would target."
+       ============================================================ -->
+  <link name="tool0">
+    <visual>
+      <geometry><sphere radius="0.015"/></geometry>
+      <material name="agros_red"/>
+    </visual>
+  </link>
+  <joint name="tool0_joint" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child  link="tool0"/>
+    <origin xyz="0.06 0 0" rpy="0 0 0"/>
+  </joint>
+
+</robot>

package/runtime/ros2_ws/src/agenticros_sim/worlds/agenticros_indoor.sdf

@@ -13,7 +13,7 @@
     * Standard physics + sensors + ros_gz system plugins so the AMR's depth
       camera / IMU / lidar publish on Gazebo topics that the bridge picks up
 -->
-<sdf version="1.10">
+<sdf version="1.9">
   <world name="agenticros_indoor">
 
     <!-- ====== System plugins ====== -->