From b50556cb83ae4b3890d0e757c888aedf0d032e2f Mon Sep 17 00:00:00 2001
From: Thomason Zhou <t95zhou@uwaterloo.ca>
Date: Tue, 1 Apr 2025 13:46:52 +0900
Subject: [PATCH] Refactor openarm urdf

---
 openarm_description/urdf/openarm.urdf.xacro                 | 3 +++
 openarm_description/urdf/openarm.xacro                      | 6 ------
 .../{openarm_sensors.urdf.xacro => openarm_sensors.xacro}   | 0
 3 files changed, 3 insertions(+), 6 deletions(-)
 rename openarm_description/urdf/{openarm_sensors.urdf.xacro => openarm_sensors.xacro} (100%)

diff --git a/openarm_description/urdf/openarm.urdf.xacro b/openarm_description/urdf/openarm.urdf.xacro
index 0fbad44..4a0a9cf 100644
--- a/openarm_description/urdf/openarm.urdf.xacro
+++ b/openarm_description/urdf/openarm.urdf.xacro
@@ -2,4 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
     <xacro:include filename="openarm.xacro"/>
     <xacro:openarm/>
+    <xacro:include filename="openarm_sensors.xacro"/>
+    <xacro:include filename="openarm.ros2_control.xacro" />
+    <xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)"/>
 </robot>
diff --git a/openarm_description/urdf/openarm.xacro b/openarm_description/urdf/openarm.xacro
index 033f81d..fc8eb37 100644
--- a/openarm_description/urdf/openarm.xacro
+++ b/openarm_description/urdf/openarm.xacro
@@ -14,14 +14,8 @@
         <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
         <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
 
-        <xacro:include filename="openarm_sensors.urdf.xacro"/>
-
         <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
 
-        <xacro:include filename="openarm.ros2_control.xacro" />
-        <xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)"/>
-
-
         <link name="${prefix}link1">
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
diff --git a/openarm_description/urdf/openarm_sensors.urdf.xacro b/openarm_description/urdf/openarm_sensors.xacro
similarity index 100%
rename from openarm_description/urdf/openarm_sensors.urdf.xacro
rename to openarm_description/urdf/openarm_sensors.xacro