Custom 2DOF Configuration

[kaushikbalasundar]

I would like to use this package to set up a custom 2DOF arm with just the shoulder and elbow actuators, and the base rigidly fixed to the ground. I would then like to add effort controllers such that I can send some input torques and monitor the response of the arm in simulation.

How do I go about creating a custom 2DOF arm URDF for simulation with gazebo using this package? In other words, I would like to modify the 4DOF version and remove 2 actuators. However, I am not able to understand which files need to be modified for me to do so. Could you give me a brief outline of how the various dependencies are linked and how I need to go about doing this?