Version: ROS 2 Jazzy

arm_mount

platform:
  attachments:
    - name: arm_plate
      type: w200.arm_plate
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true

Attach accessories to the arm plate mount by setting the accessory's parent parameter to arm_plate_mount. The mount is displayed as an axis in the image above.