I'm launching the apartment_with_window4.xacro, which starts the standard kitchen plus the rest of the apartment with the window with the same offset as the original.
this PR changes the window handles to be a fixed joint
the link frames of the window handles have the same pose as the horizontal handles of the cupboards
I'm launching the apartment_with_window4.xacro, which starts the standard kitchen plus the rest of the apartment with the window with the same offset as the original.