From 90f859b54a050fd6b18e8db11007b4e1cbdc92c0 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Mon, 10 Mar 2025 22:37:42 +0900
Subject: [PATCH] Add left wrist

---
 openarm_two_arms/urdf/openarm.xacro | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index ce69c90..8283ff9 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -116,12 +116,12 @@
                 <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="${prefix}link6_right_wrist">
+        <link name="${prefix}link6">
             <visual>
                 <!--J6 right_wrist/Part__Feature006.-->
-                <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
+                <origin rpy="${reflect*-2.1276679791326423} ${rotate -1.5542266826921929} ${rotate}" xyz="-0.0485412 -0.0860404 0.437784"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/>
                 </geometry>
             </visual>
             <collision>
@@ -142,7 +142,7 @@
                 <!--J7 right v002/Part__Feature007.-->
                 <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j7v1_9yzky6.dae' if side=='right' else 'full_upper_j7_leftv005_8ohvh2.dae'}"/>
                 </geometry>
             </visual>
             <collision>
@@ -251,13 +251,13 @@
         </joint>
         <joint name="${prefix}rev5" type="revolute">
             <parent link="${prefix}link5"/>
-            <child link="${prefix}link6_right_wrist"/>
+            <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="${prefix}link6_right_wrist"/>
+            <parent link="${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"/>