openarm_ros2/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro

<?xml version="1.0" ?>
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　Copyright 2025 Reazon Holdings, Inc.

　Licensed under the Apache License, Version 2.0 (the "License");
　you may not use this file except in compliance with the License.
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　distributed under the License is distributed on an "AS IS" BASIS,
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
  <xacro:arg name="hardware_type" default="real" />

  <!-- Robot description parameters -->
  <xacro:arg name="prefix" default="" />

  <!-- Control-related parameters -->
  <xacro:arg name="right_can_device" default="can0" />
  <xacro:arg name="left_can_device" default="can1" />
  <xacro:arg name="hardware_type" default="real" />
  <xacro:arg name="mock_sensor_commands" default="false" />

  <xacro:include filename="$(find openarm_description)/urdf/openarm.robot.xacro"/>
  <xacro:include filename="$(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_robot prefix="right_" side="right" zero_pos="arm"/>
  <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_robot prefix="left_" side="left" zero_pos="arm"/>
  <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>

  <!-- Include control configuration for both arms -->
  <xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
  <xacro:arg name="right_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
  <xacro:arg name="left_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />

  <xacro:openarm_ros2_control name="RightOpenArmHW" prefix="right_" initial_positions_file="$(arg right_initial_positions_file)" can_device="$(arg right_can_device)" hardware_type="$(arg hardware_type)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
  <xacro:openarm_ros2_control name="LeftOpenArmHW" prefix="left_" initial_positions_file="$(arg left_initial_positions_file)" can_device="$(arg left_can_device)" hardware_type="$(arg hardware_type)" mock_sensor_commands="$(arg mock_sensor_commands)"/>

</robot>