From 5839d05ffaaad496e3e17dbb7df26af37c53e7b6 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Tue, 11 Mar 2025 13:35:34 +0900
Subject: [PATCH] Update default zero to be up, with option for arm zero
 position (bend shoulder)

---
 .../urdf/openarm_bimanual.urdf.xacro          |   6 +-
 .../launch/description.launch.py              |   2 +-
 openarm_description/launch/display.launch.py  |   2 +-
 openarm_description/urdf/openarm.urdf         | 277 +++++++++++++++++
 openarm_description/urdf/openarm.urdf.xacro   | 282 +-----------------
 openarm_description/urdf/openarm.xacro        | 282 ++++++++++++++++++
 .../urdf/openarm_wrapper.urdf.xacro           |   6 -
 7 files changed, 569 insertions(+), 288 deletions(-)
 create mode 100644 openarm_description/urdf/openarm.urdf
 create mode 100644 openarm_description/urdf/openarm.xacro
 delete mode 100644 openarm_description/urdf/openarm_wrapper.urdf.xacro

diff --git a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro
index 514bf40..35d40bc 100644
--- a/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro
+++ b/openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro
@@ -2,10 +2,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
   <link name="world"/>
 
-  <xacro:include filename="$(find openarm_description)/urdf/openarm.urdf.xacro"/>
+  <xacro:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
   <xacro:include filename="openarm_pedestal.urdf"/>
-  <xacro:openarm prefix="right_" side="right"/>
-  <xacro:openarm prefix="left_" side="left"/>
+  <xacro:openarm prefix="right_" side="right" zero_pos="arm"/>
+  <xacro:openarm prefix="left_" side="left" zero_pos="arm"/>
 
   <joint name="dummy_joint" type="fixed">
     <parent link="world"/>
diff --git a/openarm_description/launch/description.launch.py b/openarm_description/launch/description.launch.py
index 14aeb94..e7a543f 100644
--- a/openarm_description/launch/description.launch.py
+++ b/openarm_description/launch/description.launch.py
@@ -15,7 +15,7 @@ def generate_launch_description():
             "openarm_description"
         )
     )
-    default_model_path = pkg_share / "urdf/openarm_wrapper.urdf.xacro"
+    default_model_path = pkg_share / "urdf/openarm.urdf.xacro"
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument("use_sim_time", default_value="true")
diff --git a/openarm_description/launch/display.launch.py b/openarm_description/launch/display.launch.py
index d9fc2fa..2a69799 100644
--- a/openarm_description/launch/display.launch.py
+++ b/openarm_description/launch/display.launch.py
@@ -15,7 +15,7 @@ def generate_launch_description():
             "openarm_description"
         )
     )
-    default_model_path = pkg_share / "urdf/openarm_wrapper.urdf.xacro"
+    default_model_path = pkg_share / "urdf/openarm.urdf.xacro"
     default_rviz_config_path = pkg_share / "rviz/robot_description.rviz"
 
     use_sim_time = LaunchConfiguration("use_sim_time")
diff --git a/openarm_description/urdf/openarm.urdf b/openarm_description/urdf/openarm.urdf
new file mode 100644
index 0000000..4d767af
--- /dev/null
+++ b/openarm_description/urdf/openarm.urdf
@@ -0,0 +1,277 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from openarm.urdf.xacro             | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="openarm">
+  <material name="gray">
+    <color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
+  </material>
+  <!-- side right, left -->
+  <!-- recommended prefixes left_, right_, etc. -->
+  <!-- zero_pos up, arm -->
+  <link name="link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link1.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
+      <geometry>
+        <box size="0.11 0.073 0.0592"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5769283920617254"/>
+      <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
+      <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
+    </inertial>
+  </link>
+  <link name="link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link2.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
+      <geometry>
+        <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.16257504134917358"/>
+      <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
+      <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
+    </inertial>
+  </link>
+  <link name="link3">
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link3.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
+      <geometry>
+        <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.4201676469910031"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.00688022 0.0 0.0282752"/>
+      <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
+    </inertial>
+  </link>
+  <link name="link4">
+    <visual>
+      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link4.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
+      <geometry>
+        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.819475539373447"/>
+      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
+      <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
+    </inertial>
+  </link>
+  <link name="link5">
+    <visual>
+      <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link5.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
+      <geometry>
+        <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.4086748254352304"/>
+      <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
+      <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
+    </inertial>
+  </link>
+  <link name="link6">
+    <visual>
+      <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link6_rightarm.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
+      <geometry>
+        <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.3448471958049249"/>
+      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
+      <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
+    </inertial>
+  </link>
+  <link name="link7">
+    <visual>
+      <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link7_rightarm.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
+      <geometry>
+        <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.2782138078738053"/>
+      <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
+      <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
+    </inertial>
+  </link>
+  <link name="link8">
+    <visual>
+      <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/link8.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
+      <geometry>
+        <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.31261452743802165"/>
+      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
+      <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
+    </inertial>
+  </link>
+  <link name="link_left_jaw">
+    <visual>
+      <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.04297897856394934"/>
+      <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
+      <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
+    </inertial>
+  </link>
+  <link name="link_right_jaw">
+    <visual>
+      <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
+      </geometry>
+      <material name="gray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
+      <geometry>
+        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.042981665301134515"/>
+      <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
+      <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
+    </inertial>
+  </link>
+  <joint name="rev1" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+  </joint>
+  <joint name="rev2" type="revolute">
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin rpy="-1.5707963267948968 1.5707963267948966 0" xyz="0.0 -0.02975 0.04475"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
+  </joint>
+  <joint name="rev3" type="revolute">
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
+  </joint>
+  <joint name="rev4" type="revolute">
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
+  </joint>
+  <joint name="rev5" type="revolute">
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+  </joint>
+  <joint name="rev6" type="revolute">
+    <parent link="link6"/>
+    <child link="link7"/>
+    <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
+  </joint>
+  <joint name="rev7" type="revolute">
+    <parent link="link7"/>
+    <child link="link8"/>
+    <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
+  </joint>
+  <joint name="left_pris1" type="prismatic">
+    <parent link="link8"/>
+    <child link="link_left_jaw"/>
+    <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
+  </joint>
+  <joint name="right_pris2" type="prismatic">
+    <parent link="link8"/>
+    <child link="link_right_jaw"/>
+    <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
+    <mimic joint="left_pris1" multiplier="-1.0" offset="0.0"/>
+  </joint>
+</robot>
diff --git a/openarm_description/urdf/openarm.urdf.xacro b/openarm_description/urdf/openarm.urdf.xacro
index 59500c4..65a59f3 100644
--- a/openarm_description/urdf/openarm.urdf.xacro
+++ b/openarm_description/urdf/openarm.urdf.xacro
@@ -1,278 +1,6 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:property name="side" value="right"/>
-    <xacro:property name="prefix" value=""/>
-    <material name="gray">
-        <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
-    </material>
-
-    <xacro:macro name="openarm" params="side:='right' prefix:=''">
-        <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
-        <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
-
-        <link name="${prefix}link1">
-            <visual>
-                <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link1.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
-                <geometry>
-                    <box size="0.11 0.073 0.0592"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.5769283920617254"/>
-                <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
-                <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link2">
-            <visual>
-                <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link2.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
-                <geometry>
-                    <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.16257504134917358"/>
-                <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
-                <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link3">
-            <visual>
-                <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link3.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
-                <geometry>
-                    <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.4201676469910031"/>
-                <origin rpy="${pi * 0.5} 0 0" xyz="-0.00688022 0.0 0.0282752"/>
-                <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link4">
-            <visual>
-                <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link4.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
-                <geometry>
-                    <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.819475539373447"/>
-                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
-                <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link5">
-            <visual>
-                <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link5.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
-                <geometry>
-                    <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.4086748254352304"/>
-                <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
-                <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link6">
-            <visual>
-                <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
-                <geometry>
-                    <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.3448471958049249"/>
-                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
-                <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link7">
-            <visual>
-                <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
-                <geometry>
-                    <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.2782138078738053"/>
-                <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
-                <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link8">
-            <visual>
-                <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/link8.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
-                <geometry>
-                    <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.31261452743802165"/>
-                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
-                <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link_left_jaw">
-            <visual>
-                <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/left_jaw.stl"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.04297897856394934"/>
-                <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
-                <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link_right_jaw">
-            <visual>
-                <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
-                </geometry>
-                <material name="gray"/>
-            </visual>
-            <collision>
-                <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
-                <geometry>
-                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.042981665301134515"/>
-                <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
-                <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
-            </inertial>
-        </link>
-        <joint name="${prefix}rev1" type="revolute">
-            <parent link="${prefix}link1"/>
-            <child link="${prefix}link2"/>
-            <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
-            <axis xyz="0 0 ${reflect*1}"/>
-            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev2" type="revolute">
-            <parent link="${prefix}link2"/>
-            <child link="${prefix}link3"/>
-            <origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="0.0" upper="${pi}" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev3" type="revolute">
-            <parent link="${prefix}link3"/>
-            <child link="${prefix}link4"/>
-            <origin rpy="-1.5707963267949054 ${rotate} -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
-            <axis xyz="0 0 ${reflect*1}"/>
-            <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev4" type="revolute">
-            <parent link="${prefix}link4"/>
-            <child link="${prefix}link5"/>
-            <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev5" type="revolute">
-            <parent link="${prefix}link5"/>
-            <child link="${prefix}link6"/>
-            <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev6" type="revolute">
-            <parent link="${prefix}link6"/>
-            <child link="${prefix}link7"/>
-            <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}rev7" type="revolute">
-            <parent link="${prefix}link7"/>
-            <child link="${prefix}link8"/>
-            <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}left_pris1" type="prismatic">
-            <parent link="${prefix}link8"/>
-            <child link="${prefix}link_left_jaw"/>
-            <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}right_pris2" type="prismatic">
-            <parent link="${prefix}link8"/>
-            <child link="${prefix}link_right_jaw"/>
-            <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
-            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
-        </joint>
-    </xacro:macro>
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
+    <xacro:include filename="openarm.xacro"/>
+    <xacro:openarm/>
+    <xacro:include filename="openarm_sensors.urdf.xacro"/>
 </robot>
diff --git a/openarm_description/urdf/openarm.xacro b/openarm_description/urdf/openarm.xacro
new file mode 100644
index 0000000..33427ea
--- /dev/null
+++ b/openarm_description/urdf/openarm.xacro
@@ -0,0 +1,282 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <material name="gray">
+        <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
+    </material>
+
+    <xacro:macro name="openarm" params="side:='right' prefix:='' zero_pos='up'">
+        <!-- side right, left -->
+        <!-- recommended prefixes left_, right_, etc. -->
+        <!-- zero_pos up, arm -->
+
+
+        <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
+        <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
+
+        <link name="${prefix}link1">
+            <visual>
+                <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link1.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
+                <geometry>
+                    <box size="0.11 0.073 0.0592"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.5769283920617254"/>
+                <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
+                <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link2">
+            <visual>
+                <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link2.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
+                <geometry>
+                    <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.16257504134917358"/>
+                <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
+                <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link3">
+            <visual>
+                <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link3.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
+                <geometry>
+                    <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.4201676469910031"/>
+                <origin rpy="${pi * 0.5} 0 0" xyz="-0.00688022 0.0 0.0282752"/>
+                <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link4">
+            <visual>
+                <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link4.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
+                <geometry>
+                    <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.819475539373447"/>
+                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
+                <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link5">
+            <visual>
+                <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link5.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
+                <geometry>
+                    <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.4086748254352304"/>
+                <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
+                <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link6">
+            <visual>
+                <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
+                <geometry>
+                    <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.3448471958049249"/>
+                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
+                <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link7">
+            <visual>
+                <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
+                <geometry>
+                    <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.2782138078738053"/>
+                <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
+                <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link8">
+            <visual>
+                <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/link8.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
+                <geometry>
+                    <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.31261452743802165"/>
+                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
+                <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link_left_jaw">
+            <visual>
+                <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.04297897856394934"/>
+                <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
+                <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
+            </inertial>
+        </link>
+        <link name="${prefix}link_right_jaw">
+            <visual>
+                <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
+                </geometry>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
+                <geometry>
+                    <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.042981665301134515"/>
+                <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
+                <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
+            </inertial>
+        </link>
+        <joint name="${prefix}rev1" type="revolute">
+            <parent link="${prefix}link1"/>
+            <child link="${prefix}link2"/>
+            <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
+            <axis xyz="0 0 ${reflect*1}"/>
+            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev2" type="revolute">
+            <parent link="${prefix}link2"/>
+            <child link="${prefix}link3"/>
+            <origin rpy="-1.5707963267948968 ${pi/2 if zero_pos=='up' else 0} 0" xyz="0.0 -0.02975 0.04475"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="${-pi/2.0 if zero_pos=='up' else 0.0}" upper="${pi/2 if zero_pos=='up' else pi}" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev3" type="revolute">
+            <parent link="${prefix}link3"/>
+            <child link="${prefix}link4"/>
+            <origin rpy="-1.5707963267949054 ${rotate} -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
+            <axis xyz="0 0 ${reflect*1}"/>
+            <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev4" type="revolute">
+            <parent link="${prefix}link4"/>
+            <child link="${prefix}link5"/>
+            <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev5" type="revolute">
+            <parent link="${prefix}link5"/>
+            <child link="${prefix}link6"/>
+            <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev6" type="revolute">
+            <parent link="${prefix}link6"/>
+            <child link="${prefix}link7"/>
+            <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}rev7" type="revolute">
+            <parent link="${prefix}link7"/>
+            <child link="${prefix}link8"/>
+            <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}left_pris1" type="prismatic">
+            <parent link="${prefix}link8"/>
+            <child link="${prefix}link_left_jaw"/>
+            <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
+        </joint>
+        <joint name="${prefix}right_pris2" type="prismatic">
+            <parent link="${prefix}link8"/>
+            <child link="${prefix}link_right_jaw"/>
+            <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
+            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/openarm_description/urdf/openarm_wrapper.urdf.xacro b/openarm_description/urdf/openarm_wrapper.urdf.xacro
deleted file mode 100644
index dc6eda7..0000000
--- a/openarm_description/urdf/openarm_wrapper.urdf.xacro
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
-    <xacro:include filename="openarm.urdf.xacro"/>
-    <xacro:openarm/>
-    <xacro:include filename="openarm_sensors.urdf.xacro"/>
-</robot>