Forums › Niryo One › How to… › Niryo_one Studio connection to desktop_rviz_simulation › Reply To: Niryo_one Studio connection to desktop_rviz_simulation
During the development of the robot we have decided to handle (programmatically) differently the arm and the tools. So, the arm is represented with a URDF file, and is operated with Moveit. The tools are directly handled with their own controller.
You can find the “why” on our github repo were this matter has already been discussed.