<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">

  <xacro:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
  <xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
  <xacro:include filename="openarm_bimanual_sensors.xacro"/>

  <link name="world"/>
  <joint name="dummy_joint" type="fixed">
    <parent link="world"/>
    <child link="pedestal_link"/>
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
  </joint>

  <xacro:openarm prefix="right_" side="right" zero_pos="arm" can_device="can0"/>
  <joint name="right_fixed1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="right_dummy_link"/>
    <origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
  </joint>

  <xacro:openarm prefix="left_" side="left" zero_pos="arm" can_device="can1"/>
  <joint name="left_fixed1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="left_dummy_link"/>
    <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
  </joint>

</robot>
