From 9f8500684f1f985d4489497ec5740204daac125d Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Mon, 10 Mar 2025 16:28:24 +0900
Subject: [PATCH] Add left and right arms

---
 openarm_two_arms/urdf/openarm_left.urdf  | 210 +++++++++++
 openarm_two_arms/urdf/openarm_right.urdf | 422 ++++++-----------------
 2 files changed, 316 insertions(+), 316 deletions(-)

diff --git a/openarm_two_arms/urdf/openarm_left.urdf b/openarm_two_arms/urdf/openarm_left.urdf
index 48bc01e..c5aedc0 100644
--- a/openarm_two_arms/urdf/openarm_left.urdf
+++ b/openarm_two_arms/urdf/openarm_left.urdf
@@ -1,5 +1,215 @@
 <?xml version="1.0" ?>
 <robot name="openarm_two_arms">
+  <link name="l_base_link001">
+      <visual>
+        <!--base_link001/Part__Feature018.-->
+        <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 0.0007"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_base_link_int1ku.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link1__col_base_link__BoundBox/col_base_link__BoundBox.-->
+        <origin rpy="3.1415926535897927 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="3.1415926535897927 0 0" xyz="0.0 -2.52845e-05 -0.0229621"/>
+        <inertia ixx="0.00034035167574060564" ixy="-2.642617350904103e-18" ixz="-6.153994863823447e-18" iyy="0.00043000583000101937" iyz="-5.098294820747963e-07" izz="0.0004802171432001997"/>
+      </inertial>
+    </link>
+    <link name="l_J2_v003">
+      <visual>
+        <!--J2 v003/Part__Feature019.-->
+        <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link2__col_J2_v2__BoundBox/col_J2_v2__BoundBox.-->
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
+        <geometry>
+          <box size="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.16257504134917358"/>
+        <origin rpy="0 0 0" xyz="0.000225878 0.00183836 0.0278368"/>
+        <inertia ixx="0.00023903110213294341" ixy="-7.551692921099009e-08" ixz="1.128272336243354e-06" iyy="0.00010490798314778747" iyz="-5.907962783972549e-06" izz="0.00019737368685935768"/>
+      </inertial>
+    </link>
+    <link name="l_J3_v004">
+      <visual>
+        <!--J3 v004/Part__Feature020.-->
+        <origin rpy="1.5707963267948963 0 0" xyz="0.0 0.0987 -0.02975"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link3__col_J3_v003__BoundBox/col_J3_v003__BoundBox.-->
+        <origin rpy="1.5707963267948961 0 0" xyz="0.0164466 -0.00044972 -0.02975"/>
+        <geometry>
+          <box size="0.0898910738785183 0.06999999999999985 0.05902136986134156"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.42038984024444975"/>
+        <origin rpy="1.5707963267948961 0 0" xyz="0.00686697 0.0 -0.0282662"/>
+        <inertia ixx="0.00020276573635381913" ixy="5.353124426981602e-06" ixz="-1.2309719752249493e-06" iyy="0.0002972732820435537" iyz="-4.96881827890621e-07" izz="0.00032917425408263227"/>
+      </inertial>
+    </link>
+    <link name="l_J4_v003">
+      <visual>
+        <!--J4 v003/Part__Feature021.-->
+        <origin rpy="0 -1.5620381439005744 0" xyz="0.0986962 0.0 -0.0621144"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link4__col_J4_v2__BoundBox/col_J4_v2__BoundBox.-->
+        <origin rpy="0 -1.5620381439005742 0" xyz="-0.000261608 0.0125645 0.132604"/>
+        <geometry>
+          <box size="0.27584679830769426 0.08211367789676165 0.07185639591248483"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.8196402299327217"/>
+        <origin rpy="0 -1.5620381439005742 0" xyz="0.000770085 0.00195314 0.132431"/>
+        <inertia ixx="0.0004386639666889925" ixy="-6.080385269207883e-05" ixz="-7.68782221495183e-06" iyy="0.009210551548719602" iyz="-2.7878027653992583e-06" izz="0.00917471125137894"/>
+      </inertial>
+    </link>
+    <link name="l_J5_v004">
+      <visual>
+        <!--J5 v004/Part__Feature022.-->
+        <origin rpy="0 0.008758182894352118 0" xyz="-0.303864 0.0 -0.0689415"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link5__col_J5_v003__BoundBox/col_J5_v003__BoundBox.-->
+        <origin rpy="0 0.008758182894352025 0" xyz="0.0539601 0.00265291 0.02931"/>
+        <geometry>
+          <box size="0.1676296341613413 0.06430555048399128 0.08257859967140607"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.40867482543516"/>
+        <origin rpy="0 0.008758182894352111 0" xyz="0.0831878 0.00261036 0.0290107"/>
+        <inertia ixx="0.0003150152720598943" ixy="9.43251788631792e-06" ixz="-3.2155516327367085e-05" iyy="0.0012216556466064033" iyz="-1.3129824233752054e-06" izz="0.0010745148965932514"/>
+      </inertial>
+    </link>
+    <link name="l_J6_Left_v004">
+      <visual>
+        <!--J6_Left v004/Part__Feature023.-->
+        <origin rpy="1.013924674457276 -1.5542266826921816 0" xyz="0.0485412 0.0860404 -0.437784"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link6__col_J6_Left_v003__BoundBox/col_J6_Left_v003__BoundBox.-->
+        <origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00260793 0.0031292 0.0652641"/>
+        <geometry>
+          <box size="0.1311435300470597 0.059534783253118076 0.08817198167731641"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.34433331594607314"/>
+        <origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00885434 0.0135457 0.0439"/>
+        <inertia ixx="0.00019315823092440877" ixy="5.759960919860601e-07" ixz="3.928258332297235e-05" iyy="0.0003489300226703872" iyz="5.3866492677574926e-06" izz="0.00028834862800848534"/>
+      </inertial>
+    </link>
+    <link name="l_J7_Left_v004">
+      <visual>
+        <!--J7_Left v004/Part__Feature024.-->
+        <origin rpy="0 0.008758182894514984 0" xyz="-0.558839 -0.00358671 -0.0632962"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link7__col_J7_Left_v003__BoundBox/col_J7_Left_v003__BoundBox.-->
+        <origin rpy="0 0.008758182894515429 0" xyz="0.000300274 0.00228799 0.0340015"/>
+        <geometry>
+          <box size="0.05859778949354245 0.04469786051400639 0.08267618289454949"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.2782996911629702"/>
+        <origin rpy="0 0.008758182894515356 0" xyz="-8.771e-05 0.00414153 0.035427"/>
+        <inertia ixx="0.0001043910985422628" ixy="-4.0026347675757406e-07" ixz="1.0837675080533579e-07" iyy="0.00012327455405278424" iyz="-8.765964772332956e-08" izz="9.221516114206396e-05"/>
+      </inertial>
+    </link>
+    <link name="l_J8_v003">
+      <visual>
+        <!--J8 v003/Part__Feature025.-->
+        <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="-0.557906 0.103687 0.0234745"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_link8__col_J8_v002__BoundBox/col_J8_v002__BoundBox.-->
+        <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="0.0427524 -0.001079 0.0109925"/>
+        <geometry>
+          <box size="0.1302624002952524 0.052571684700854236 0.1601213740691585"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.3126145274380216"/>
+        <origin rpy="1.570978323892347 0.020776713325758166 0" xyz="0.0607568 -0.000722767 0.00876618"/>
+        <inertia ixx="0.00023572179169416507" ixy="-7.789320420216956e-05" ixz="-2.111587909476847e-06" iyy="0.0005055124180887915" iyz="-1.5449610531695725e-06" izz="0.0003736712654123388"/>
+      </inertial>
+    </link>
+    <link name="l_right_jaw_v004">
+      <visual>
+        <!--right_jaw v004/Part__Feature027.-->
+        <origin rpy="3.141592653589774 0.008758182895214187 0" xyz="-0.662074 0.00352188 0.18819"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_right_jaw__col_right_jaw_v002_col_obj/col_right_jaw_v002_col_obj.-->
+        <origin rpy="3.141592653589774 0.00875818289521427 0" xyz="-0.662074 0.00352188 0.18819"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.042981665301134495"/>
+        <origin rpy="3.141592653589774 0.008758182895214186 0" xyz="0.0189546 -0.00337688 0.0156207"/>
+        <inertia ixx="1.1399290012366144e-05" ixy="2.1100277903741056e-06" ixz="3.6731039885335394e-06" iyy="2.38634020443188e-05" iyz="-3.5503706410916235e-07" izz="3.0396785775073194e-05"/>
+      </inertial>
+    </link>
+    <link name="l_left_jaw_v004">
+      <visual>
+        <!--left_jaw v004/Part__Feature026.-->
+        <origin rpy="3.141592653589789 0.00875818289443215 0" xyz="-0.664789 0.00352188 0.0332134"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <!--bound_obj__left_left_jaw__col_left_jaw_v002_col_obj/col_left_jaw_v002_col_obj.-->
+        <origin rpy="3.141592653589789 0.008758182894432077 0" xyz="-0.664789 0.00352188 0.0332134"/>
+        <geometry>
+          <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.04297897856394934"/>
+        <origin rpy="3.141592653589789 0.008758182894432148 0" xyz="0.0184958 0.00151751 -0.0162764"/>
+        <inertia ixx="1.195285836430737e-05" ixy="-2.8053920115195855e-06" ixz="-3.983934744055433e-06" iyy="2.3656009736974273e-05" iyz="-4.864815166189635e-07" izz="3.047484533653199e-05"/>
+      </inertial>
+    </link>
     <joint name="left_rev1" type="revolute">
     <parent link="l_base_link001"/>
     <child link="l_J2_v003"/>
diff --git a/openarm_two_arms/urdf/openarm_right.urdf b/openarm_two_arms/urdf/openarm_right.urdf
index 85db765..f92d364 100644
--- a/openarm_two_arms/urdf/openarm_right.urdf
+++ b/openarm_two_arms/urdf/openarm_right.urdf
@@ -1,426 +1,216 @@
 <?xml version="1.0" ?>
 <robot name="openarm_two_arms">
-    <link name="l_base_link001">
+  <link name="l_J1_v002">
     <visual>
-      <!--base_link001/Part__Feature018.-->
-      <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 0.0007"/>
+      <!--J1 v002/Part__Feature001.-->
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_base_link_int1ku.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__left_link1__col_base_link__BoundBox/col_base_link__BoundBox.-->
-      <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 -0.0289"/>
+      <!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
+      <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="3.1415926535897927 0 0" xyz="0.0 -2.52845e-05 -0.0229621"/>
-      <inertia ixx="0.00034035167574060564" ixy="-2.642617350904103e-18" ixz="-6.153994863823447e-18" iyy="0.00043000583000101937" iyz="-5.098294820747963e-07" izz="0.0004802171432001997"/>
+      <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="l_J2_v003">
+  <link name="l_J2_v002">
     <visual>
-      <!--J2 v003/Part__Feature019.-->
+      <!--J2 v002/Part__Feature002.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__left_link2__col_J2_v2__BoundBox/col_J2_v2__BoundBox.-->
+      <!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
       <geometry>
-        <box size="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
+        <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"/>
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+      <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="l_J3_v004">
+  <link name="l_J3_v003">
     <visual>
-      <!--J3 v004/Part__Feature020.-->
-      <origin rpy="1.5707963267948963 0 0" xyz="0.0 0.0987 -0.02975"/>
+      <!--J3 v003/Part__Feature003.-->
+      <origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__left_link3__col_J3_v003__BoundBox/col_J3_v003__BoundBox.-->
-      <origin rpy="1.5707963267948961 0 0" xyz="0.0164466 -0.00044972 -0.02975"/>
+      <!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
+      <origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
       <geometry>
-        <box size="0.0898910738785183 0.06999999999999985 0.05902136986134156"/>
+        <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
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     </collision>
     <inertial>
-      <mass value="0.42038984024444975"/>
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+      <mass value="0.4201676469910031"/>
+      <origin rpy="1.5707963267948968 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="l_J4_v003">
+  <link name="l_J4_v002">
     <visual>
-      <!--J4 v003/Part__Feature021.-->
-      <origin rpy="0 -1.5620381439005744 0" xyz="0.0986962 0.0 -0.0621144"/>
+      <!--J4 v002/Part__Feature004.-->
+      <origin rpy="-3.1415926535888543 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__left_link4__col_J4_v2__BoundBox/col_J4_v2__BoundBox.-->
-      <origin rpy="0 -1.5620381439005742 0" xyz="-0.000261608 0.0125645 0.132604"/>
+      <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
+      <origin rpy="-3.14159265358886 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
       <geometry>
-        <box size="0.27584679830769426 0.08211367789676165 0.07185639591248483"/>
+        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
       </geometry>
     </collision>
     <inertial>
-      <mass value="0.8196402299327217"/>
-      <origin rpy="0 -1.5620381439005742 0" xyz="0.000770085 0.00195314 0.132431"/>
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-        <!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
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-    <link name="l_left_jaw_v002">
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-        <!--left_jaw v002/Part__Feature009.-->
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-        <geometry>
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-        <collision>
-        <!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
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-    <link name="l_right_jaw_v002">
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-        <!--right_jaw v002/Part__Feature010.-->
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-        <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
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-    </link>
-    <joint name="right_rev1" type="revolute">
+  <link name="l_right_jaw_v002">
+    <visual>
+      <!--right_jaw v002/Part__Feature010.-->
+      <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
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+    </visual>
+    <collision>
+      <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
+      <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
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     <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>