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Sutou Kouhei 2025-07-22 16:07:59 +09:00
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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
name: Bug Report
description: File a bug report.
type: Bug
body:
- type: textarea
id: description
attributes:
label: Describe the problem you got
description: It's better that you provide information as much as possible.
validations:
required: true

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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
name: Feature Request
description: Request a feature.
type: Feature
body:
- type: textarea
id: description
attributes:
label: Describe the feature you want
description: It's better that you also provide your use case.
validations:
required: true

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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
blank_issues_enabled: false
contact_links:
- name: Discord
url: https://discord.gg/FsZaZ4z3We
about: Please ask and answer questions here.
- name: GitHub Discussions
url: https://github.com/enactic/openarm_description/discussions
about: If you prefer GitHub Discussions to Discord, you can use GitHub Discussions too.

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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
*.urdf

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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required(VERSION 3.8)
project(openarm_description)
find_package(ament_cmake REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY
launch
meshes
rviz
urdf
# worlds
config
DESTINATION share/${PROJECT_NAME}
)
ament_package()

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# Contributor Covenant Code of Conduct
## Our Pledge
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Community leaders will follow these Community Impact Guidelines in determining
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## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage],
version 2.1, available at
[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
Community Impact Guidelines were inspired by
[Mozilla's code of conduct enforcement ladder][Mozilla CoC].
For answers to common questions about this code of conduct, see the FAQ at
[https://www.contributor-covenant.org/faq][FAQ]. Translations are available at
[https://www.contributor-covenant.org/translations][translations].
[homepage]: https://www.contributor-covenant.org
[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
[Mozilla CoC]: https://github.com/mozilla/diversity
[FAQ]: https://www.contributor-covenant.org/faq
[translations]: https://www.contributor-covenant.org/translations

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# How to contribute
## Did you find a bug?
Please report it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=1-bug-report.yml)!
## Did you have a feature request?
Please share it to [GitHub Issues](https://github.com/enactic/openarm_description/issues/new?template=2-feature-request.yml)!
## Did you write a patch?
Please open a pull request with it!
Please make sure to review [our license](https://github.com/enactic/openarm_description/blob/main/LICENSE.txt) before you open a pull request.
## Others?
Please share it on [Discord](https://discord.gg/FsZaZ4z3We) or [GitHub Discussions](https://github.com/enactic/openarm_description/discussions)!

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# Robot Description files for OpenArm
This package contains description files to generate OpenArm URDFs (Universal Robot Description Files).
To generate or view the URDF, install ROS2, source the setup script, and clone this package into a workspace.
For example, for ROS2 Humble:
```sh
source /opt/ros/humble/setup.bash
mkdir -p ~/ros2_ws/src
git clone https://github.com/enactic/openarm_description.git ~/ros2_ws/src/openarm_description
colcon build
source ~/ros2_ws/install/setup.bash
```
Then to view the bimanual URDF:
```sh
ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=true
```
Or to generate a URDF:
```sh
URDF_NAME=openarm_bimanual.urdf
xacro ~/ros2_ws/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > $URDF_NAME
```
## License
Licensed under the Apache License 2.0. See `LICENSE.txt` for details.
Copyright 2025 Enactic, Inc.
## Code of Conduct
All participation in the OpenArm project is governed by our
[Code of Conduct](CODE_OF_CONDUCT.md).

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link0:
origin:
x: -0.0009483362816297526
y: 0.0001580207020448382
z: 0.03076860287587199
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.1432284943239561
inertia:
xx: 0.001128
xy: -4.0e-06
xz: -3.3e-05
yy: 0.000962
yz: -7.0e-06
zz: 0.00147
link1:
origin:
x: 0.0011467657911800769
y: 3.319987657026362e-05
z: 0.05395284380736254
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.1416684646202298
inertia:
xx: 0.001567
xy: -1.0e-06
xz: -2.9e-05
yy: 0.001273
yz: 1e-06
zz: 0.001016
link2:
origin:
x: 0.00839629182351943
y: -2.0145102027597523e-08
z: 0.03256649300522363
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.2775092746011571
inertia:
xx: 0.000359
xy: 1e-06
xz: -0.000109
yy: 0.000376
yz: 1e-06
zz: 0.000232
link3:
origin:
x: -0.002104752099628911
y: 0.0005549085042607548
z: 0.08847470545721961
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.073863338202347
inertia:
xx: 0.004372
xy: 1e-06
xz: 1.1e-05
yy: 0.004319
yz: -3.6e-05
zz: 0.000661
link4:
origin:
x: -0.0029006831074562967
y: -0.03030575826634669
z: 0.06339637422196209
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.5598534566833373
inertia:
xx: 0.000623
xy: -1.0e-06
xz: -1.9e-05
yy: 0.000511
yz: 3.8e-05
zz: 0.000334
link5:
origin:
x: -0.003049665024221911
y: 0.0008866902457326625
z: 0.043079803024980934
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.5506588026168502
inertia:
xx: 0.000423
xy: -8.0e-06
xz: 6.0e-06
yy: 0.000445
yz: -6.0e-06
zz: 0.000324
link6:
origin:
x: -0.037136587005447405
y: 0.00033230528343419053
z: -9.498374522309838e-05
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.385202773187987
inertia:
xx: 0.000143
xy: 1e-06
xz: 1e-06
yy: 0.000157
yz: 1e-06
zz: 0.000159
link7:
origin:
x: 6.875510271106056e-05
y: 0.01266175250761268
z: 0.06951945409987448
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.3859771327380578
inertia:
xx: 0.000639
xy: 1e-06
xz: 1e-06
yy: 0.000497
yz: 8.9e-05
zz: 0.000342

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joint1:
limit:
lower: -1.396263
upper: 3.490659
velocity: 16.754666
effort: 40
joint2:
limit:
lower: -1.745329
upper: 1.745329
velocity: 16.754666
effort: 40
joint3:
limit:
lower: -1.570796
upper: 1.570796
velocity: 5.445426
effort: 27
joint4:
limit:
lower: 0.0
upper: 2.443461
velocity: 5.445426
effort: 27
joint5:
limit:
lower: -1.570796
upper: 1.570796
velocity: 20.943946
effort: 7
joint6:
limit:
lower: -0.785398
upper: 0.785398
velocity: 20.943946
effort: 7
joint7:
limit:
lower: -1.570796
upper: 1.570796
velocity: 20.943946
effort: 7
# joint_gripper1:
# limit:
# lower: 0.0
# upper: 0.043
# velocity: 100
# effort: 100
# joint_gripper2:
# limit:
# lower: 0.0
# upper: 0.043
# velocity: 100
# effort: 100

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joint1:
kinematic:
x: 0.0
y: 0.0
z: 0.0625
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: -0.0301
y: 0.0
z: 0.06
roll: 0
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0.0301
y: 0.0
z: 0.06625
roll: 0
pitch: 0
yaw: 0
joint4:
kinematic:
x: -0.0
y: 0.0315
z: 0.15375
roll: 0
pitch: 0
yaw: 0
joint5:
kinematic:
x: 0.0
y: -0.0315
z: 0.0955
roll: 0
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0.0375
y: 0.0
z: 0.1205
roll: 0
pitch: 0
yaw: 0
# joint7:
# kinematic:
# x: -0.0375
# y: 0.0205
# z: 0.0
# roll: 0
# pitch: 0
# yaw: 0
joint7:
kinematic:
x: -0.0375
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
# joint8:
# kinematic:
# x: 1e-06
# y: -0.098
# z: 0.114501
# roll: 0
# pitch: 0
# yaw: 0
joint8:
kinematic:
x: 1e-06
y: 0.0205
z: 0.0
roll: 0
pitch: 0
yaw: 0

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link0:
kinematic:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
link1:
kinematic:
x: -0.0
y: 0.0
z: -0.0625
roll: 0.0
pitch: 0.0
yaw: 0.0
link2:
kinematic:
x: 0.0301
y: 0.0
z: -0.1225
roll: 0.0
pitch: 0.0
yaw: 0.0
link3:
kinematic:
x: -0.0
y: -0.0
z: -0.18875
roll: 0.0
pitch: 0.0
yaw: 0.0
link4:
kinematic:
x: 0.0
y: -0.0315
z: -0.3425
roll: 0.0
pitch: 0.0
yaw: 0.0
link5:
kinematic:
x: -0.0
y: -0.0
z: -0.438
roll: 0.0
pitch: 0.0
yaw: 0.0
link6:
kinematic:
x: -0.0375
y: -0.0
z: -0.5585
roll: 0.0
pitch: 0.0
yaw: 0.0
# link7:
# kinematic:
# x: 0.0
# y: -0.0205
# z: -0.5585
# roll: 0.0
# pitch: 0.0
# yaw: 0.0
link7:
kinematic:
x: 0.0
y: -0.0
z: -0.5585
roll: 0.0
pitch: 0.0
yaw: 0.0

71
config/arm/v10/kinematics_offset.yaml Normal file
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joint1:
kinematic_offset:
x: 0.0
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic_offset:
x: 0.0
y: 0.0
z: 0.0
roll: 1.57079632679
pitch: 0
yaw: 0
joint3:
kinematic_offset:
x: 0.0
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint4:
kinematic_offset:
x: -0.0
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint5:
kinematic_offset:
x: 0.0
y: -0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint6:
kinematic_offset:
x: 0.0
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint7:
kinematic_offset:
x: -0.0
y: 0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0
joint8:
kinematic_offset:
x: 0.0
y: -0.0
z: 0.0
roll: 0
pitch: 0
yaw: 0

14
config/body/v10/inertials.yaml Normal file
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body_link0:
origin:
xyz: 0.0 0.0 0.0
rpy: 0.0 0.0 0.0
mass: 13.89
inertia:
xx: 1.653
xy: 0.0
xz: 0.0
yy: 1.653
yz: 0.0
zz: 0.051

8
config/body/v10/kinematics.yaml Normal file
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body_link0:
kinematic:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0

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config/body/v10/kinematics_link.yaml Normal file
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body_link0:
kinematic:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0

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hand:
origin:
x: 0.0
y: 0.002
z: 0.019
roll: 0
pitch: 0
yaw: 0
mass: 0.3
inertia:
xx: 0.0001
yy: 0.00025
zz: 0.00017
xy: 1e-06
xz: 1e-06
yz: 1e-06
left_finger:
origin:
x: 0.0064528
y: 0.017020
z: 0.0219685
roll: 0
pitch: 0
yaw: 0
mass: 0.03602545343277134
inertia:
xx: 2.3749999999999997e-06
yy: 2.3749999999999997e-06
zz: 7.5e-07
xy: 1e-06
xz: 1e-06
yz: 1e-06
right_finger:
origin:
x: 0.0064528
y: -0.017020
z: 0.0219685
roll: 0
pitch: 0
yaw: 0
mass: 0.03602545343277134
inertia:
xx: 2.3749999999999997e-06
yy: 2.3749999999999997e-06
zz: 7.5e-07
xy: 1e-06
xz: 1e-06
yz: 1e-06
# left_finger: &finger
# origin:
# x: 00064528
# y: 0.017020
# z: 0.0219685
# roll: 0
# pitch: 0
# yaw: 0
# mass: 0.03602545343277134
# inertia:
# xx: 2.3749999999999997e-06
# yy: 2.3749999999999997e-06
# zz: 7.5e-07
# xy: 0
# xz: 0
# yz: 0
# right_finger: *finger

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62
config/hand/openarm_hand/kinematics_link.yaml Normal file
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# hand:
# kinematic:
# x: 0.0
# y: -0.0205
# z: -0.5585
# roll: 0.0
# pitch: 0.0
# yaw: 0.0
hand:
kinematic:
x: 0.0
y: 0.005
z: -0.6585
roll: 0.0
pitch: 0.0
yaw: 0.0
# left_finger:
# kinematic:
# x: 0.0
# y: 0.0775
# z: -0.673001
# roll: 0.0
# pitch: 0.0
# yaw: 0.0
# left_finger:
# kinematic:
# x: 0.0
# y: 0.053
# z: -0.673001
# roll: 0.0
# pitch: 0.0
# yaw: 0.0
# right_finger:
# kinematic:
# x: 0.0
# y: 0.143
# z: -0.673001
# roll: 0.0
# pitch: 0.0
# yaw: 0.0
left_finger:
kinematic:
x: 0.0
y: -0.05
z: -0.673001
roll: 0.0
pitch: 0.0
yaw: 0.0
right_finger:
kinematic:
x: 0.0
y: 0.05
z: -0.673001
roll: 0.0
pitch: 0.0
yaw: 0.0

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# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription, LaunchContext
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual):
arm_type_str = context.perform_substitution(arm_type)
ee_type_str = context.perform_substitution(ee_type)
bimanual_str = context.perform_substitution(bimanual)
xacro_path = os.path.join(
get_package_share_directory("openarm_description"),
"urdf", "robot", f"{arm_type_str}.urdf.xacro"
)
robot_description = xacro.process_file(
xacro_path,
mappings={
"arm_type": arm_type_str,
"ee_type": ee_type_str,
"bimanual": bimanual_str,
}
).toprettyxml(indent=" ")
return [
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[{"robot_description": robot_description}],
)
]
def rviz_spawner(context: LaunchContext, bimanual):
bimanual_str = context.perform_substitution(bimanual)
rviz_config_file = "bimanual.rviz" if bimanual_str.lower() == "true" else "arm_only.rviz"
rviz_config_path = os.path.join(
get_package_share_directory("openarm_description"),
"rviz", rviz_config_file
)
return [
Node(
package="rviz2",
executable="rviz2",
name="rviz2",
arguments=["--display-config", rviz_config_path],
output="screen"
),
]
def generate_launch_description():
arm_type_arg = DeclareLaunchArgument(
"arm_type",
description="Type of arm to visualize (e.g., v10)"
)
ee_type_arg = DeclareLaunchArgument(
"ee_type",
default_value="openarm_hand",
description="Type of end-effector to attach (e.g., openarm_hand or none)"
)
bimanual_arg = DeclareLaunchArgument(
"bimanual",
default_value="false",
description="Whether to use bimanual configuration"
)
arm_type = LaunchConfiguration("arm_type")
ee_type = LaunchConfiguration("ee_type")
bimanual = LaunchConfiguration("bimanual")
robot_state_publisher_loader = OpaqueFunction(
function=robot_state_publisher_spawner,
args=[arm_type, ee_type, bimanual]
)
rviz_loader = OpaqueFunction(
function=rviz_spawner,
args=[bimanual]
)
return LaunchDescription([
arm_type_arg,
ee_type_arg,
bimanual_arg,
robot_state_publisher_loader,
Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
name="joint_state_publisher_gui"
),
rviz_loader,
])

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<!--
　Copyright 2025 Enactic, Inc.
　Licensed under the Apache License, Version 2.0 (the "License");
　you may not use this file except in compliance with the License.
　You may obtain a copy of the License at
　 http://www.apache.org/licenses/LICENSE-2.0
　Unless required by applicable law or agreed to in writing, software
　distributed under the License is distributed on an "AS IS" BASIS,
　WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
　See the License for the specific language governing permissions and
　limitations under the License.
-->
<package format="3">
<name>openarm_description</name>
<version>1.0.0</version>
<description>URDF with optional configuration parameters for OpenArm</description>
<maintainer email="openarm_dev@enactic.ai">Enactic, Inc.</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<depend>joint_state_publisher_gui</depend>
<depend>ros_gz</depend>
<depend>realsense2_description</depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz2</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.5
Tree Height: 758
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
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
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
openarm_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: openarm_link0
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.424237012863159
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.33000001311302185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.5
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1922
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000100000000000001da000006f0fc0200000002fb000000100044006900730070006c0061007900730100000069000003e40000017800fffffffb0000000a005600690065007700730100000459000003000000012300ffffff00000afa000006f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 3296
X: 0
Y: 64

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Panels:
- Class: rviz_common/Displays
Help Height: 138
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.5
Tree Height: 139
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
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
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
openarm_left_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_left_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_hand_tcp:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_left_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
openarm_right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
openarm_right_right_finger:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
v10_body_link0:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 5
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.33000001311302185
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.5
Saved: ~
Window Geometry:
Displays:
collapsed: false
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
<xacro:include filename="$(find openarm_description)/urdf/arm/openarm_macro.xacro" />
<xacro:macro name="openarm_arm" params="arm_type arm_prefix:='' no_prefix:=false description_pkg:='openarm_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' joint_limits inertials kinematics kinematics_link kinematics_offset:=none " >
<xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' + arm_prefix}" />
<xacro:if value="${arm_prefix == 'right_'}">
<xacro:property name="reflect" value="1" />
</xacro:if>
<xacro:unless value="${arm_prefix == 'right_'}">
<xacro:property name="reflect" value="-1" />
</xacro:unless>
<xacro:unless value="${connected_to == ''}">
<joint name="${prefix}${connected_to}_joint" type="fixed">
<parent link="${connected_to}"/>
<child link="${prefix}link0"/>
<origin rpy="${rpy}" xyz="${xyz}"/>
</joint>
</xacro:unless>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link0" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link1" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<joint name="${prefix}joint1" type="revolute">
<xacro:openarm-kinematics name="joint1" config="${kinematics}" reflect="${reflect}"/>
<parent link="${prefix}link0" />
<child link="${prefix}link1" />
<axis xyz="0 0 1" />
<xacro:openarm-limits name="joint1" config="${joint_limits}" offset="${-2.094396 if arm_prefix=='left_' else 0}"/>
</joint>
<!-- for bimanual offset -->
<xacro:link_with_sc no_prefix="${no_prefix}" name="link2" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<xacro:property name="limit_offset_joint2" value="0" />
<xacro:if value="${prefix.find('right_') != -1}">
<xacro:property name="limit_offset_joint2" value="${pi/2}" />
</xacro:if>
<xacro:if value="${prefix.find('left_') != -1}">
<xacro:property name="limit_offset_joint2" value="${-pi/2}" />
</xacro:if>
<joint name="${prefix}joint2" type="revolute">
<xacro:openarm-kinematics name="joint2" config="${kinematics}" offset="${kinematics_offset}" reflect="${reflect}"/>
<parent link="${prefix}link1" />
<child link="${prefix}link2" />
<axis xyz="-1 0 0" />
<xacro:openarm-limits name="joint2" config="${joint_limits}" reflect="${reflect}" offset="${limit_offset_joint2}"/>
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link3" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<joint name="${prefix}joint3" type="revolute">
<xacro:openarm-kinematics name="joint3" config="${kinematics}" />
<parent link="${prefix}link2" />
<child link="${prefix}link3" />
<axis xyz="0 0 1" />
<xacro:openarm-limits name="joint3" config="${joint_limits}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link4" kinematics_link="${kinematics_link}" />
<joint name="${prefix}joint4" type="revolute">
<xacro:openarm-kinematics name="joint4" config="${kinematics}" />
<parent link="${prefix}link3" />
<child link="${prefix}link4" />
<axis xyz="0 1 0" />
<xacro:openarm-limits name="joint4" config="${joint_limits}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link5" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}" />
<joint name="${prefix}joint5" type="revolute">
<xacro:openarm-kinematics name="joint5" config="${kinematics}" />
<parent link="${prefix}link4" />
<child link="${prefix}link5" />
<axis xyz="0 0 1" />
<xacro:openarm-limits name="joint5" config="${joint_limits}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link6" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<joint name="${prefix}joint6" type="revolute">
<xacro:openarm-kinematics name="joint6" config="${kinematics}" />
<parent link="${prefix}link5" />
<child link="${prefix}link6" />
<axis xyz="1 0 0" />
<xacro:openarm-limits name="joint6" config="${joint_limits}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link7" kinematics_link="${kinematics_link}" inertials="${inertials}" reflect="${reflect}"/>
<joint name="${prefix}joint7" type="revolute">
<xacro:openarm-kinematics name="joint7" config="${kinematics}" />
<parent link="${prefix}link6"/>
<child link="${prefix}link7"/>
<axis xyz="0 ${reflect} 0"/>
<xacro:openarm-limits name="joint7" config="${joint_limits}" />
</joint>
<link name="${prefix}link8"/>
<joint name="${prefix}joint8" type="fixed">
<xacro:openarm-kinematics name="joint8" config="${kinematics}" />
<parent link="${prefix}link7" />
<child link="${prefix}link8" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="openarm-inertials" params="name inertials:=^ reflect:=1">
<xacro:unless value="${name in inertials}">
${xacro.warning('No inertia properties defined for: ' + name)}
</xacro:unless>
<xacro:if value="${name in inertials}">
<xacro:property name="I" value="${inertials[name]}" lazy_eval="false" />
<inertial>
<origin
xyz="${I.origin.x} ${reflect * I.origin.y} ${I.origin.z}"
rpy="${I.origin.roll} ${I.origin.pitch} ${I.origin.yaw}" />
<mass value="${I.mass}" />
<xacro:if value="${'inertia' in I}">
<xacro:property name="inert" value="${I.inertia}" />
<inertia ixx="${inert.xx}" ixy="${inert.xy}" ixz="${inert.xz}"
iyy="${inert.yy}" iyz="${inert.yz}" izz="${inert.zz}" />
</xacro:if>
</inertial>
</xacro:if>
</xacro:macro>
<xacro:macro name="link_with_sc" params="name no_prefix:='false' rpy:='0 0 0' kinematics_link:='' reflect:=1 inertials:=^">
<!-- <xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_type + '_'}" /> -->
<xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' + arm_prefix}" />
<link name="${prefix}${name}">
<visual name="${prefix}${name}_visual">
<xacro:openarm-kinematics-link config="${kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/arm/${arm_type}/visual/${name}.dae" scale="0.001 ${0.001*reflect} 0.001" />
</geometry>
</visual>
<collision name="${prefix}${name}_collision">
<xacro:openarm-kinematics-link config="${kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}_symp.stl" scale="0.001 ${0.001*reflect} 0.001" />
<!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
</geometry>
</collision>
<xacro:openarm-inertials name="${name}" inertials="${inertials}" reflect="${reflect}" />
</link>
</xacro:macro>
<xacro:macro name="transmission-openarm-state" params="arm_type:=fer">
<transmission name="${arm_prefix}${arm_type}_openarm_state">
<type>openarm_hw/openarmStateInterface</type>
<joint name="${arm_prefix}${arm_type}_joint1"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint2"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint3"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint4"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint5"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint6"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_type}_joint7"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></joint>
<actuator name="${arm_prefix}${arm_type}_motor1"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor2"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor3"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor4"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor5"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor6"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_type}_motor7"><hardwareInterface>openarm_hw/openarmStateInterface</hardwareInterface></actuator>
</transmission>
</xacro:macro>
<xacro:macro name="transmission-openarm-model" params="arm_type:=v10 root:=v10_joint1 tip:=v10_joint7">
<transmission name="${arm_prefix}${arm_type}_openarm_model">
<type>openarm_hw/openarmModelInterface</type>
<joint name="${root}">
<role>root</role>
<hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface>
</joint>
<joint name="${tip}">
<role>tip</role>
<hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface>
</joint>
<actuator name="${root}_motor_root"><hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface></actuator>
<actuator name="${tip}_motor_tip" ><hardwareInterface>openarm_hw/openarmModelInterface</hardwareInterface></actuator>
</transmission>
</xacro:macro>
<xacro:macro name="inertia-cylinder" params="mass radius h">
<inertial>
<mass value="${mass}" />
<inertia ixx="${1./12 * mass * (3 * radius**2 + h**2)}" ixy = "0" ixz = "0"
iyy="${1./12 * mass * (3 * radius**2 + h**2)}" iyz = "0"
izz="${1./2 * mass * radius**2}" />
</inertial>
</xacro:macro>
<xacro:macro name="openarm-limits" params="name config reflect:=1 offset:=0">
<xacro:property name="limits" value="${config[name]['limit']}"/>
<xacro:property name="raw_lower" value="${limits.lower * reflect + offset}" />
<xacro:property name="raw_upper" value="${limits.upper * reflect + offset}" />
<xacro:property name="lower" value="0.0" />
<xacro:property name="upper" value="0.0" />
<xacro:if value="${raw_lower &lt; raw_upper}">
<xacro:property name="lower" value="${raw_lower}" />
<xacro:property name="upper" value="${raw_upper}" />
</xacro:if>
<xacro:unless value="${raw_lower &lt; raw_upper}">
<xacro:property name="lower" value="${raw_upper}" />
<xacro:property name="upper" value="${raw_lower}" />
</xacro:unless>
<limit
lower="${lower}"
upper="${upper}"
effort="${limits.effort}"
velocity="${limits.velocity}" />
</xacro:macro>
<xacro:macro name="openarm-kinematics" params="name config offset:=none reflect:=1">
<xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
<xacro:if value="${offset != 'none'}">
<xacro:property name="offset" value="${offset[name]['kinematic_offset']}" lazy_eval="false" />
<origin
xyz="${kinematics.x + offset.x} ${kinematics.y + offset.y} ${kinematics.z + offset.z}"
rpy="${reflect*(kinematics.roll + offset.roll)} ${reflect*(kinematics.pitch + offset.pitch)} ${reflect*(kinematics.yaw + offset.yaw)}" />
</xacro:if>
<xacro:unless value="${offset != 'none'}">
<origin
xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}"
rpy="${reflect*kinematics.roll} ${reflect*kinematics.pitch} ${reflect*kinematics.yaw}" />
</xacro:unless>
</xacro:macro>
<xacro:macro name="openarm-kinematics-link" params="config name">
<xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_body">
<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body_macro.xacro" />
<xacro:macro name="openarm_body"
params="body_type
body_prefix:=''
no_prefix:=false
description_pkg:='openarm_description'
connected_to:='world'
xyz:='0 0 0'
rpy:='0 0 0'
inertials
kinematics
kinematics_link">
<!-- <xacro:property name="prefix" value="${'' if no_prefix else body_prefix + 'body_'}" /> -->
<xacro:property name="prefix" value="${'' if no_prefix else 'openarm_' + 'body_'}" />
<xacro:unless value="${not connected_to}">
<link name="${connected_to}" />
<joint name="${prefix}${connected_to}_joint" type="fixed">
<parent link="${connected_to}" />
<child link="${prefix}link0" />
<origin xyz="${xyz}" rpy="${rpy}" />
</joint>
</xacro:unless>
<xacro:body_link_with_sc
name="body_link0"
no_prefix="${no_prefix}"
kinematics_link="${kinematics_link}" />
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="openarm-body-inertials" params="name inertials:=^">
<xacro:unless value="${name in inertials}">${xacro.warning('No inertia properties defined for: ' + name)}</xacro:unless>
<xacro:if value="${name in inertials}">
<!-- Access inertia properties of link 'name' -->
<xacro:property name="link_inertials" value="${inertials[name]}" lazy_eval="false" />
<inertial>
<origin rpy="${link_inertials.origin.rpy}" xyz="${link_inertials.origin.xyz}" />
<mass value="${link_inertials.mass}" />
<xacro:if value="${'inertia' in link_inertials}">
<xacro:property name="I" value="${link_inertials.inertia}" />
<inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}" iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
</xacro:if>
</inertial>
</xacro:if>
</xacro:macro>
<xacro:macro name="body_link_with_sc" params="name no_prefix:='false' rpy:='0 0 0' kinematics_link">
<!-- <xacro:property name="prefix" value="${'' if no_prefix else body_prefix + body_type + '_'}" /> -->
<xacro:property name="prefix" value="${'' if no_prefix else 'openarm' + '_' + body_prefix}" />
<link name="${prefix}${name}">
<visual name="${prefix}${name}_visual">
<xacro:openarm-body-kinematics config="${kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/body/${body_type}/visual/${name}.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="${prefix}${name}_collision">
<xacro:openarm-body-kinematics config="${kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://openarm_description/meshes/body/${body_type}/collision/${name}_symp.stl" scale="0.001 0.001 0.001" />
<!-- <mesh filename="package://openarm_description/meshes/arm/${arm_type}/collision/${name}.stl" scale="0.001 0.001 0.001" /> -->
</geometry>
</collision>
<xacro:openarm-body-inertials name="${name}" />
</link>
</xacro:macro>
<xacro:macro name="openarm-body-kinematics" params="config name">
<xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
</xacro:macro>
<xacro:macro name="openarm-body-kinematics-link" params="config name">
<xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ee_with_one_link">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="ee_with_one_link" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description with_sc:=false">
<xacro:property name="ee_prefix" default="robot_"/>
<xacro:unless value="${arm_type == ''}">
<xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
</xacro:unless>
<xacro:unless value="${connected_to == ''}">
<joint name="${ee_prefix}${ee_type}_joint" type="fixed">
<parent link="${connected_to}" />
<child link="${ee_prefix}${ee_type}" />
<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
</joint>
</xacro:unless>
<xacro:ee_link_with_sc name="${ee_type}"/>
<!-- Define the ${ee_type}_tcp frame -->
<link name="${ee_prefix}${ee_type}_tcp" />
<joint name="${ee_prefix}${ee_type}_tcp_joint" type="fixed">
<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
<parent link="${ee_prefix}${ee_type}" />
<child link="${ee_prefix}${ee_type}_tcp" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="openarm_hand" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics_link rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
<xacro:property name="ee_prefix" default=""/>
<xacro:unless value="${arm_type == ''}">
<!-- <xacro:property name="ee_prefix" value="${arm_prefix}${arm_type}_" /> -->
<xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
</xacro:unless>
<xacro:ee_link_with_sc name="hand" prefix="${ee_prefix}" ee_kinematics_link="${ee_kinematics_link}"/>
<!-- <link name="${ee_prefix}hand"/> -->
<xacro:unless value="${connected_to == ''}">
<!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
<joint name="${arm_prefix}openarm_hand_joint" type="fixed">
<parent link="${connected_to}" />
<child link="${ee_prefix}hand" />
<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
</joint>
</xacro:unless>
<!-- Define the hand_tcp frame -->
<link name="${ee_prefix}hand_tcp" />
<joint name="${ee_prefix}hand_tcp_joint" type="fixed">
<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}hand_tcp" />
</joint>
<link name="${ee_prefix}left_finger">
<visual name="${ee_prefix}left_finger_visual">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision name="${ee_prefix}left_finger_collision">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/collision/finger.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<xacro:ee-inertials name="left_finger"/>
</link>
<link name="${ee_prefix}right_finger">
<visual name="${ee_prefix}right_finger_visual">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/finger.dae" scale="0.001 -0.001 0.001"/>
</geometry>
</visual>
<collision name="${ee_prefix}right_finger_collision">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/collision/finger.stl" scale="0.001 -0.001 0.001" />
</geometry>
</collision>
<xacro:ee-inertials name="right_finger"/>
</link>
<joint name="${ee_prefix}finger_joint1" type="prismatic">
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}right_finger" />
<origin xyz="0 0.00 0.015" rpy="0 0 0" />
<axis xyz="0 -1 0" />
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
</joint>
<joint name="${ee_prefix}finger_joint2" type="prismatic">
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}left_finger" />
<origin xyz="0 0.012 0.015" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
<mimic joint="${ee_prefix}finger_joint1" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Where is the end-effector connected to, if different from the robot flange? -->
<xacro:arg name="special_connection" default="" />
<!-- Position offset between ee and parent frame -->
<xacro:arg name="xyz_ee" default="0 -0.025 0.1001" />
<!-- Rotation offset between ee and parent frame -->
<xacro:arg name="rpy_ee" default= "0 0 0" />
<!-- Position offset between ee frame and tcp frame -->
<xacro:arg name="tcp_xyz" default="0 -0.0 0.08" />
<!-- Rotation offset between ee frame and tcp frame -->
<xacro:arg name="tcp_rpy" default="0 0 0" />
<!-- Is the robot being simulated in gazebo? -->
<!-- <xacro:arg name="gazebo" default="false" /> -->
<!-- Name of the description package -->
<xacro:arg name="description_pkg" default="openarm_description" />
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ee-inertials" params="name ee_inertials:=^">
<xacro:unless value="${name in ee_inertials}">
${xacro.warning('No inertia properties defined for: ' + name)}
</xacro:unless>
<xacro:if value="${name in ee_inertials}">
<xacro:property name="link_inertials" value="${ee_inertials[name]}" lazy_eval="false" />
<xacro:property name="xyz" value="${link_inertials.origin.x} ${link_inertials.origin.y} ${link_inertials.origin.z}" />
<xacro:property name="rpy" value="${link_inertials.origin.roll} ${link_inertials.origin.pitch} ${link_inertials.origin.yaw}" />
<inertial>
<origin xyz="${xyz}" rpy="${rpy}" />
<mass value="${link_inertials.mass}" />
<xacro:if value="${'inertia' in link_inertials}">
<xacro:property name="I" value="${link_inertials.inertia}" />
<inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}"
iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
</xacro:if>
</inertial>
</xacro:if>
</xacro:macro>
<xacro:macro name="ee_link_with_sc" params="name prefix rpy:='0 0 0' ee_kinematics_link">
<link name="${prefix}${name}">
<visual name="${prefix}${name}_visual">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/${name}.dae" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="${prefix}${name}_collision">
<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
<geometry>
<mesh filename="package://openarm_description/meshes/ee/${ee_type}/collision/${name}.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<xacro:ee-inertials name="${name}" />
</link>
</xacro:macro>
<xacro:macro name="openarm-ee-kinematics" params="config name">
<xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
</xacro:macro>
<xacro:macro name="openarm-ee-kinematics-link" params="config name">
<xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
</xacro:macro>
</robot>

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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="openarm_robot"
params="arm_type
joint_limits
kinematics
kinematics_link
kinematics_offset
inertials
body_type
body_inertials
body_kinematics
body_kinematics_link
ee_kinematics_link
parent:='world'
xyz:='0 0 0'
rpy:='0 0 0'
hand:='false'
ee_type:=''
ros2_control:=false
can_interface:=''
use_fake_hardware:=false
fake_sensor_commands:=false
no_prefix:='false'
arm_prefix:=''
body_prefix:=''
arm_connected_to='base'
body_connected_to='world'
bimanual:=false
right_arm_base_xyz='0 0 0'
left_arm_base_xyz='0 0 0'
right_arm_base_rpy='0 0 0'
left_arm_base_rpy='0 0 0'
left_can_interface:='can1'
right_can_interface:='can0'
left_arm_prefix:='left_'
right_arm_prefix:='right_'
"
>
<xacro:include filename="$(find openarm_description)/urdf/arm/openarm_macro.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/arm/openarm_arm.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body_macro.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/body/openarm_body.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/ee/openarm_hand.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/ee/openarm_hand_macro.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/ros2_control/openarm.ros2_control.xacro" />
<xacro:include filename="$(find openarm_description)/urdf/ros2_control/openarm.bimanual.ros2_control.xacro" />
<xacro:if value="${ee_type != 'none'}">
<xacro:include filename="$(find openarm_description)/urdf/ee/${ee_type}_arguments.xacro" />
</xacro:if>
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<xacro:property name="body_prefix_modified" value="${'' if body_prefix == '' else body_prefix + '_'}" />
<xacro:if value="${bimanual}">
<xacro:openarm_body
body_type="${body_type}"
body_prefix="${body_prefix_modified}"
no_prefix="${no_prefix}"
description_pkg="openarm_description"
connected_to="${body_connected_to}"
xyz="${xyz}"
rpy="${rpy}"
inertials="${body_inertials}"
kinematics="${body_kinematics}"
kinematics_link="${body_kinematics_link}" />
<!-- left arm -->
<xacro:openarm_arm
arm_type="${arm_type}"
arm_prefix="left_"
no_prefix="false"
description_pkg="openarm_description"
connected_to="openarm_body_link0"
xyz="${left_arm_base_xyz}"
rpy="${left_arm_base_rpy}"
joint_limits="${joint_limits}"
inertials="${inertials}"
kinematics="${kinematics}"
kinematics_link="${kinematics_link}"
kinematics_offset="${kinematics_offset}" />
<!-- right arm -->
<xacro:openarm_arm
arm_type="${arm_type}"
arm_prefix="right_"
no_prefix="false"
description_pkg="openarm_description"
connected_to="openarm_body_link0"
xyz="${right_arm_base_xyz}"
rpy="${right_arm_base_rpy}"
joint_limits="${joint_limits}"
inertials="${inertials}"
kinematics="${kinematics}"
kinematics_link="${kinematics_link}"
kinematics_offset="${kinematics_offset}" />
<!-- ros2_control hardware interfaces for bimanual setup -->
<xacro:if value="${ros2_control}">
<xacro:openarm_bimanual_ros2_control
arm_type="${arm_type}"
left_can_interface="${left_can_interface}"
right_can_interface="${right_can_interface}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
left_arm_prefix="${left_arm_prefix}"
right_arm_prefix="${right_arm_prefix}"
hand="${hand}"/>
</xacro:if>
<xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
<xacro:openarm_hand
connected_to="openarm_left_link8"
arm_type="${arm_type}"
arm_prefix="left_"
ee_type="${ee_type}"
ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
description_pkg="$(arg description_pkg)"
/>
<xacro:openarm_hand
connected_to="openarm_right_link8"
arm_type="${arm_type}"
arm_prefix="right_"
ee_type="${ee_type}"
ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
description_pkg="$(arg description_pkg)"
/>
</xacro:if>
</xacro:if>
<xacro:if value="${not bimanual}">
<xacro:openarm_arm
arm_type="${arm_type}"
arm_prefix="${arm_prefix_modified}"
no_prefix="${no_prefix}"
xyz="${xyz}"
rpy="${rpy}"
joint_limits="${joint_limits}"
kinematics="${kinematics}"
kinematics_link="${kinematics_link}"
inertials="${inertials}"
connected_to=""
/>
<xacro:if value="${ros2_control}">
<xacro:openarm_arm_ros2_control
arm_type="${arm_type}"
arm_prefix="${arm_prefix_modified}"
can_interface="${can_interface}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
hand="${hand}"
bimanual="false"/>
</xacro:if>
<xacro:if value="${hand and ee_type == 'openarm_hand'}">
<xacro:property name="special_connection" value="$(arg special_connection)" />
<!-- <xacro:property name="connection" value="${special_connection if special_connection != '' else arm_type + '_link8'}" /> -->
<xacro:property name="connection" value="${special_connection if special_connection != '' else 'openarm' + '_link8'}" />
<xacro:if value="$(eval hand and ee_type == 'openarm_hand')">
<xacro:openarm_hand
connected_to="${arm_prefix_modified}${connection}"
arm_type="${arm_type}"
arm_prefix="${arm_prefix_modified}"
ee_type="${ee_type}"
ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
ee_inertials="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
description_pkg="$(arg description_pkg)"/>
</xacro:if>
</xacro:if>
</xacro:if>
</xacro:macro>
</robot>

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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
<xacro:include filename="$(find openarm_description)/urdf/robot/openarm_robot.xacro"/>
<xacro:arg name="arm_type" default="v10" />
<xacro:arg name="body_type" default="v10" />
<xacro:arg name="ee_type" default="openarm_hand" />
<xacro:arg name="no_prefix" default="false"/>
<xacro:arg name="hand" default="true" />
<xacro:if value="$(eval ee_type == 'none')">
<xacro:property name="hand" value="false"/>
</xacro:if>
<xacro:arg name="parent" default="world" />
<xacro:arg name="xyz" default="0 0 0" />
<xacro:arg name="rpy" default="0 0 0" />
<xacro:arg name="ros2_control" default="false" />
<xacro:arg name="can_interface" default="can0" />
<xacro:arg name="left_can_interface" default="can1" />
<xacro:arg name="right_can_interface" default="can0" />
<xacro:arg name="left_arm_prefix" default="left_" />
<xacro:arg name="right_arm_prefix" default="right_" />
<xacro:arg name="use_fake_hardware" default="false" />
<xacro:arg name="fake_sensor_commands" default="false" />
<xacro:arg name="bimanual" default="false" />
<xacro:arg name="right_arm_base_xyz" default="0.0 -0.031 0.698" />
<xacro:arg name="right_arm_base_rpy" default="1.5708 0 0" />
<xacro:arg name="left_arm_base_xyz" default="0.0 0.031 0.698" />
<xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
<xacro:openarm_robot
arm_type="v10"
body_type="v10"
joint_limits="${xacro.load_yaml('$(find openarm_description)/config//arm/v10/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics.yaml')}"
kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_link.yaml')}"
kinematics_offset="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_offset.yaml')}"
body_inertials="${xacro.load_yaml('$(find openarm_description)/config/body/v10/inertials.yaml')}"
body_kinematics="${xacro.load_yaml('$(find openarm_description)/config/body/v10/kinematics.yaml')}"
body_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/body/v10/kinematics.yaml')}"
ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
hand="$(arg hand)"
ee_type="$(arg ee_type)"
ros2_control="$(arg ros2_control)"
can_interface="$(arg can_interface)"
left_can_interface="$(arg left_can_interface)"
right_can_interface="$(arg right_can_interface)"
left_arm_prefix="$(arg left_arm_prefix)"
right_arm_prefix="$(arg right_arm_prefix)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
no_prefix="$(arg no_prefix)"
arm_prefix=""
body_prefix=""
arm_connected_to="base"
body_connected_to="world"
bimanual="$(arg bimanual)"
right_arm_base_xyz="$(arg right_arm_base_xyz)"
left_arm_base_xyz="$(arg left_arm_base_xyz)"
right_arm_base_rpy="$(arg right_arm_base_rpy)"
left_arm_base_rpy="$(arg left_arm_base_rpy)"
/>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="openarm_bimanual_ros2_control"
params="arm_type
left_can_interface:=^|can1
right_can_interface:=^|can0
use_fake_hardware:=^|false
fake_sensor_commands:=^|false
hand:=^|false
left_arm_prefix:=^|left_
right_arm_prefix:=^|right_
can_fd:=^|true">
<!-- Left Arm Hardware Interface -->
<ros2_control name="openarm_left_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${left_can_interface}</param>
<param name="arm_prefix">${left_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
</xacro:unless>
</hardware>
<xacro:macro name="configure_joint" params="joint_name initial_position">
<joint name="${joint_name}">
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<state_interface name="position">
<param name="initial_value">${initial_position}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</xacro:macro>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint1" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint2" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint3" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint4" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint5" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint6" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}joint7" initial_position="0.0"/>
<xacro:if value="${hand}">
<xacro:configure_joint joint_name="openarm_${left_arm_prefix}finger_joint1" initial_position="0.0" />
</xacro:if>
</ros2_control>
<!-- Right Arm Hardware Interface -->
<ros2_control name="openarm_right_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${right_can_interface}</param>
<param name="arm_prefix">${right_arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
</xacro:unless>
</hardware>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint2" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint3" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint4" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint5" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint6" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint7" initial_position="0.0"/>
<xacro:if value="${hand}">
<xacro:configure_joint joint_name="openarm_${right_arm_prefix}finger_joint1" initial_position="0.0" />
</xacro:if>
</ros2_control>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="openarm_arm_ros2_control"
params="arm_type
can_interface
use_fake_hardware:=^|false
fake_sensor_commands:=^|false
hand:=^|false
gazebo_effort:=^|false
arm_prefix:=''
bimanual:=false
can_fd:=^|true">
<ros2_control name="openarm_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<param name="prefix">${arm_prefix}</param>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0}">
<plugin>openarm_hardware/OpenArm_${arm_type}HW</plugin>
<param name="can_interface">${can_interface}</param>
<param name="arm_prefix">${arm_prefix}</param>
<param name="hand">${hand}</param>
<param name="can_fd">${can_fd}</param>
</xacro:if>
</hardware>
<xacro:macro name="configure_joint" params="joint_name initial_position">
<joint name="${joint_name}">
<!--
deactivated for gazebo velocity and position interface due to a bug
https://github.com/ros-controls/gz_ros2_control/issues/343
Command Interfaces -->
<command_interface name="position"/>
<command_interface name="velocity"/>
<command_interface name="effort"/>
<!-- State Interfaces -->
<state_interface name="position">
<param name="initial_value">${initial_position}</param>
</state_interface>
<state_interface name="velocity">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="effort">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</xacro:macro>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint1" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint2" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint3" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint4" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint5" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint6" initial_position="0.0"/>
<xacro:configure_joint joint_name="openarm_${arm_prefix}joint7" initial_position="0.0"/>
<xacro:if value="${hand}">
<xacro:configure_joint joint_name="openarm_${arm_prefix}finger_joint1" initial_position="0.0" />
</xacro:if>
</ros2_control>
</xacro:macro>
</robot>