From d0544a6af93c96a7be7bd3aaf3b89feeeff8c297 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 7 Nov 2024 10:12:14 -0800
Subject: [PATCH 01/27] Update forque_assembly_joint macro to allow fixed,
 revolute, and continuous joints

---
 ada_description/urdf/ada.xacro           |  24 ++-
 ada_description/urdf/forque/forque.xacro | 227 ++++++++++++++++++++---
 2 files changed, 219 insertions(+), 32 deletions(-)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 166c371..eef26ba 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -57,10 +57,28 @@
   </joint>
   -->
 
-  <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
-    <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
+  <xacro:forque_assembly_link
+      link_name="FTArmMount"
+      link_mesh="2024_01_18_FTArmMount"
+      mass="0.03783"
+      cog="0.010957 -0.019223 -0.03777">
+    <inertia
+        ixx="0.000018817"
+        iyy="0.00001119989"
+        iyz="-0.00000120296"
+        izz="0.000026883"
+        ixy="-0.0000003327"
+        ixz="-0.000000092476"/>
   </xacro:forque_assembly_link>
-  <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" parent="j2n6s200_link_6" child="FTArmMount" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
+  <xacro:forque_assembly_joint
+      joint_name="FTArmMount_to_arm"
+      type="fixed"
+      parent="j2n6s200_link_6"
+      child="FTArmMount"
+      joint_axis_xyz="0 0 1"
+      joint_origin_xyz="0.0065 -0.011 -0.0075"
+      joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
+      fixed="true"/>
 
   <xacro:if value="$(arg use_forque)">
     <xacro:forque_assembly base_parent="FTArmMount"/>
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index e647603..480174c 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -20,7 +20,6 @@
 		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
 	</xacro:property>
 
-
 	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
 		<link name="${link_name}">
 			<visual>
@@ -48,50 +47,220 @@
 		</link>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly_joint" params="joint_name parent child joint_origin_xyz joint_origin_rpy">
-		<joint name="${joint_name}" type="fixed">
-			<parent link="${parent}"/>
-			<child link="${child}"/>
-			<axis xyz="0 0 1"/>
-			<origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
-		</joint>
+	<xacro:macro name="forque_assembly_joint" params="joint_name
+                                                      type
+                                                      parent
+                                                      child
+                                                      joint_axis_xyz
+                                                      joint_origin_xyz
+                                                      joint_origin_rpy
+                                                      joint_lower_limit:=${dummy_default_value}
+                                                      joint_upper_limit:=${dummy_default_value}
+                                                      joint_velocity_limit:=${dummy_default_value}
+                                                      joint_torque_limit:=${dummy_default_value}
+                                                      fixed:=false">
+
+        <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
+            <xacro:ERROR_inconsistent_joint_type_specification/>
+        </xacro:if>
+        <xacro:if value="${type == 'revolute'}">
+            <xacro:if value="${joint_lower_limit == dummy_default_value}">
+                <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
+            </xacro:if>
+            <xacro:if value="${joint_upper_limit == dummy_default_value}">
+                <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
+            </xacro:if>
+        </xacro:if>
+        <xacro:unless value="${type =='fixed'}">
+            <xacro:if value="${joint_velocity_limit == dummy_default_value}">
+                <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
+            </xacro:if>
+            <xacro:if value="${joint_torque_limit == dummy_default_value}">
+                <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
+            </xacro:if>
+        </xacro:unless>
+
+        <joint name="${joint_name}" type="${type}">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <axis xyz="${joint_axis_xyz}"/>
+            <xacro:if value="${type == 'revolute'}">
+                <limit
+                    effort="${joint_torque_limit}"
+                    velocity="${joint_velocity_limit}"
+                    lower="${joint_lower_limit}"
+                    upper="${joint_upper_limit}"/>
+            </xacro:if>
+            <xacro:if value="${type == 'continuous'}">
+                <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
+            </xacro:if>
+            <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
+            <dynamics damping="0.0" friction="0.0"/>
+        </joint>
+
+        <xacro:unless value="${fixed}">
+            <transmission name="${joint_name}_trans">
+                <type>transmission_interface/SimpleTransmission</type>
+                <joint name="${joint_name}">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                </joint>
+                <actuator name="${joint_name}_actuator">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <mechanicalReduction>160</mechanicalReduction>
+                </actuator>
+            </transmission>
+             
+            <!--For torque sensing in simulation-->
+            <gazebo reference="${joint_name}">
+                <provideFeedback>true</provideFeedback>
+            </gazebo>
+            <gazebo>
+                <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
+                    <updateRate>30.0</updateRate>
+                    <topicName>${joint_name}_ft_sensor_topic</topicName>
+                    <jointName>${joint_name}</jointName>
+                </plugin>
+            </gazebo>
+        </xacro:unless>
 	</xacro:macro>
 
 
 	<xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
 
-		<xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
-			<inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
+		<xacro:forque_assembly_link
+            link_name="FTMount"
+            link_mesh="2024_01_18_FTMount"
+            mass="0.103"
+            cog="0.010934 -0.138522 -0.05066">
+			<inertia
+                ixx="0.00017623"
+                iyy="0.000068428"
+                iyz="-0.00001757133"
+                izz="0.00021455"
+                ixy="0.00000095729"
+                ixz="-0.0000000562908"/>
         </xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" parent="${base_parent}" child="FTMount" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0"/>
+	  	<xacro:forque_assembly_joint
+            joint_name="FTMount_to_world"
+            type="fixed"
+            parent="${base_parent}"
+            child="FTMount"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 -0.005"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
 
-	  	<xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
-	  		<inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
+	  	<xacro:forque_assembly_link
+            link_name="FT"
+            link_mesh="2023_03_09_wirelessFT"
+            mass="0.280"
+            cog="0.0111446 -0.0882070 -0.0544936">
+	  		<inertia
+                ixx="0.000543925"
+                iyy="0.000165428"
+                iyz="-0.00000001487288"
+                izz="0.000691232"
+                ixy="-0.00000128367"
+                ixz="0"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" parent="FTMount" child="FT" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
+	  	<xacro:forque_assembly_joint
+            joint_name="FT_to_FTMount"
+            type="fixed"
+            parent="FTMount"
+            child="FT"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
 
 
 	  	<xacro:if value="${use_antenna}">
-		  	<xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
-	  		  <xacro:insert_block name="default_inertial"/>
-	  	  </xacro:forque_assembly_link>
-	  	  <xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" parent="FT" child="FTAntenna" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
-		  </xacro:if>
-
-	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2023_03_09_forkHandle" mass="0.0506" cog="0.0110024 -0.151715 -0.00934664">
-	  		<inertia ixx="0.0000418078" iyy="0.0000177249" iyz="-0.000000210639" izz="0.00005200336" ixy="-0.000000396292" ixz="0.00000002424697"/>
+            <xacro:forque_assembly_link
+                link_name="FTAntenna"
+                link_mesh="2023_03_09_wirelessFTAntenna"
+                mass="0.018"
+                cog="-0.0162965 0.0666626 -0.0545096">
+                <xacro:insert_block name="default_inertial"/>
+            </xacro:forque_assembly_link>
+    	  	<xacro:forque_assembly_joint
+                joint_name="FTAntenna_to_FT"
+                type="fixed"
+                parent="FT"
+                child="FTAntenna"
+                joint_axis_xyz="0 0 1"
+                joint_origin_xyz="0 0 0"
+                joint_origin_rpy="0 0 0"
+                fixed="true"/>
+		</xacro:if>
+
+	  	<xacro:forque_assembly_link
+            link_name="forkHandle"
+            link_mesh="2023_03_09_forkHandle"
+            mass="0.0506"
+            cog="0.0110024 -0.151715 -0.00934664">
+	  		<inertia
+                ixx="0.0000418078"
+                iyy="0.0000177249"
+                iyz="-0.000000210639"
+                izz="0.00005200336"
+                ixy="-0.000000396292"
+                ixz="0.00000002424697"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0"/>
+		<xacro:forque_assembly_joint
+            joint_name="forkHandle_to_FTMount"
+            type="fixed"
+            parent="FTMount"
+            child="forkHandle"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="-0.025 0 0"
+            fixed="true"/>
 
-	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
-	  		<inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
+	  	<xacro:forque_assembly_link
+            link_name="forque"
+            link_mesh="ATI-9105-TW-NANO25-E"
+            mass="0.0634"
+            cog="0.0124692 0.0137169 0.010558">
+	  		<inertia
+                ixx="0.000005235822"
+                iyy="0.000006264852"
+                iyz="-0.00000004033694"
+                izz="0.00000640797"
+                ixy="-0.0000003129932"
+                ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="forque_to_forkHandle" parent="forkHandle" child="forque" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
+	  	<xacro:forque_assembly_joint
+            joint_name="forque_to_forkHandle"
+            type="fixed"
+            parent="forkHandle"
+            child="forque"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.00634 -0.222553 -0.004286"
+            joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
+            fixed="true"/>
 
-	  	<xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
-	  		<inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
+	  	<xacro:forque_assembly_link
+            link_name="forkTine"
+            link_mesh="fork_tine"
+            mass="0.024"
+            cog="0.013090 0.0180789 0.0445231">
+	  		<inertia
+                ixx="0.0000098769"
+                iyy="0.000009848103"
+                iyz="0.00000057639"
+                izz="0.0000015674"
+                ixy="0.000000000806182"
+                ixz="-0.00000000296036"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" parent="forque" child="forkTine" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"/>
+	  	<xacro:forque_assembly_joint
+            joint_name="forkTine_to_forque"
+            type="fixed"
+            parent="forque"
+            child="forkTine"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.0054 0.008 0.093"
+            joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"
+            fixed="true"/>
 
 	  	<link name="forkTip" />
 	  	<joint name="forkTip_to_forkTine" type="fixed">

From 7847a6857a6e9688152bb703dc61340e4c892a90 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 7 Nov 2024 22:01:08 -0800
Subject: [PATCH 02/27] Add Articulable Fork XACRO and STL

---
 .../meshes/forque/AFStabilizer.stl            | Bin 0 -> 151284 bytes
 ada_description/meshes/forque/XC-430_idle.stl | Bin 0 -> 2976184 bytes
 ada_description/meshes/forque/fr12-h103.stl   | Bin 0 -> 320084 bytes
 ada_description/meshes/forque/fr12-s101.stl   | Bin 0 -> 383684 bytes
 .../meshes/forque/roll_to_ft_adapter.stl      | Bin 0 -> 167384 bytes
 ada_description/urdf/forque/forque.xacro      | 111 +++++++++++++++++-
 6 files changed, 108 insertions(+), 3 deletions(-)
 create mode 100644 ada_description/meshes/forque/AFStabilizer.stl
 create mode 100644 ada_description/meshes/forque/XC-430_idle.stl
 create mode 100644 ada_description/meshes/forque/fr12-h103.stl
 create mode 100644 ada_description/meshes/forque/fr12-s101.stl
 create mode 100644 ada_description/meshes/forque/roll_to_ft_adapter.stl

diff --git a/ada_description/meshes/forque/AFStabilizer.stl b/ada_description/meshes/forque/AFStabilizer.stl
new file mode 100644
index 0000000000000000000000000000000000000000..8d70e228bf678a387b8ff1f151b47033af7c8f23
GIT binary patch
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diff --git a/ada_description/meshes/forque/XC-430_idle.stl b/ada_description/meshes/forque/XC-430_idle.stl
new file mode 100644
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diff --git a/ada_description/meshes/forque/roll_to_ft_adapter.stl b/ada_description/meshes/forque/roll_to_ft_adapter.stl
new file mode 100644
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HcmV?d00001

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 480174c..3857170 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -216,6 +216,111 @@
             joint_origin_rpy="-0.025 0 0"
             fixed="true"/>
 
+        <xacro:forque_assembly_link
+            link_name="AFBase"
+            link_mesh="fr12-h103"
+            mass="0.0907185"
+            cog="0.0 0.0 0.0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="AFBase_to_forkHandle"
+            type="fixed"
+            parent="forkHandle"
+            child="AFBase"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0.010929196 -0.278553 -0.011"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="AFMotor1"
+            link_mesh="XC-430_idle"
+            mass="0.065"
+            cog="0.21641853 -14.751192 -16.796092">
+            <inertia
+                ixx="18680.931"
+                iyy="9585.9138"
+                iyz="-845.46678"
+                izz="17346.641"
+                ixy="1.3348619"
+                ixz="-45.354028"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="AFMotor1_to_AFBase"
+            type="revolute"
+            parent="AFBase"
+            child="AFMotor1"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
+            joint_lower_limit="${-J_PI/2}"
+            joint_upper_limit="${J_PI/2}"
+            joint_velocity_limit="1"
+            joint_torque_limit="1.4"
+            fixed="false"/>
+
+        <xacro:forque_assembly_link
+            link_name="AFMotorFixture1"
+            link_mesh="fr12-s101"
+            mass="0.0453592"
+            cog="0 0 0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="AFMotorFixture1_to_AFMotor1"
+            type="fixed"
+            parent="AFMotor1"
+            child="AFMotorFixture1"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="0 ${-J_PI/2} 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="AFMotor2"
+            link_mesh="XC-430_idle"
+            mass="0.065"
+            cog="0.21641853 -14.751192 -16.796092">
+            <inertia
+                ixx="18680.931"
+                iyy="9585.9138"
+                iyz="-845.46678"
+                izz="17346.641"
+                ixy="1.3348619"
+                ixz="-45.354028"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="AFMotor2_to_AFMotorFixture1"
+            type="fixed"
+            parent="AFMotor1"
+            child="AFMotor2"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.03825 0 0"
+            joint_origin_rpy="0 ${-J_PI/2} 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="AFFTAdapter"
+            link_mesh="roll_to_ft_adapter"
+            mass="0.001"
+            cog="0 0 0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="AFFTAdapter_to_AFMotor2"
+            type="revolute"
+            parent="AFMotor2"
+            child="AFFTAdapter"
+            joint_axis_xyz="0 1 0"
+            joint_origin_xyz="0 0 0.019"
+            joint_origin_rpy="${-J_PI/2} 0 0"
+            joint_lower_limit="${-J_PI}"
+            joint_upper_limit="${J_PI}"
+            joint_velocity_limit="1"
+            joint_torque_limit="1.4"
+            fixed="false"/>
+
 	  	<xacro:forque_assembly_link
             link_name="forque"
             link_mesh="ATI-9105-TW-NANO25-E"
@@ -230,12 +335,12 @@
                 ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
 	  	<xacro:forque_assembly_joint
-            joint_name="forque_to_forkHandle"
+            joint_name="forque_to_AFFTAdapter"
             type="fixed"
-            parent="forkHandle"
+            parent="AFFTAdapter"
             child="forque"
             joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.00634 -0.222553 -0.004286"
+            joint_origin_xyz="-0.0175 -0.011 0.004"
             joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
             fixed="true"/>
 

From f72a2f8cca59420bbc30e3616cf033b1284421b6 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 11 Nov 2024 11:34:57 -0800
Subject: [PATCH 03/27] Rename AFMotor2_to_AFMotorFixture1 to
 AFMotor2_to_AFMotor1

---
 ada_description/urdf/forque/forque.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 3857170..fe2a66e 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -291,7 +291,7 @@
                 ixz="-45.354028"/>
         </xacro:forque_assembly_link>
         <xacro:forque_assembly_joint
-            joint_name="AFMotor2_to_AFMotorFixture1"
+            joint_name="AFMotor2_to_AFMotor1"
             type="fixed"
             parent="AFMotor1"
             child="AFMotor2"
@@ -377,4 +377,4 @@
 	</xacro:macro>
 
 
-</root>
\ No newline at end of file
+</root>

From c102e1292a4f50af169dd07c585b8a3e4011559d Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 11 Nov 2024 20:39:15 -0800
Subject: [PATCH 04/27] Format forque.xacro using xmllint

---
 ada_description/urdf/forque/forque.xacro | 515 ++++++-----------------
 1 file changed, 138 insertions(+), 377 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index fe2a66e..795ff98 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -1,380 +1,141 @@
 <?xml version="1.0"?>
-
-<root xmlns:xi="http://www.w3.org/2001/XInclude"
-	xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
-    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
-	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-	xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
-    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
-	xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-	xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
-    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
-    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
-	xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-	<xacro:property name="forque_color" value="0.4 0.4 0.4 1" />
-	<xacro:property name="J_PI" value="3.1415926535897931" />
-	<xacro:property name="default_inertial">
-		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
-	</xacro:property>
-
-	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
-		<link name="${link_name}">
-			<visual>
-				<geometry>
-					<mesh
-						filename="package://ada_description/meshes/forque/${link_mesh}.stl"
-						scale="0.001 0.001 0.001"/>
-				</geometry>
-				<material name="abs">
-					<color rgba="${forque_color}" />
-				</material>
-			</visual>
-			<collision>
-                <geometry>
-                    <mesh
-						filename="package://ada_description/meshes/forque/${link_mesh}.stl"
-						scale="0.001 0.001 0.001"/>
-                </geometry>
-            </collision>
-            <inertial>
-            	<origin xyz="${cog}" rpy="0 0 0"/>
-            	<mass value="${mass}"/>
-            	<xacro:insert_block name="inertia"/>
-            </inertial>
-		</link>
-	</xacro:macro>
-
-	<xacro:macro name="forque_assembly_joint" params="joint_name
-                                                      type
-                                                      parent
-                                                      child
-                                                      joint_axis_xyz
-                                                      joint_origin_xyz
-                                                      joint_origin_rpy
-                                                      joint_lower_limit:=${dummy_default_value}
-                                                      joint_upper_limit:=${dummy_default_value}
-                                                      joint_velocity_limit:=${dummy_default_value}
-                                                      joint_torque_limit:=${dummy_default_value}
-                                                      fixed:=false">
-
-        <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
-            <xacro:ERROR_inconsistent_joint_type_specification/>
-        </xacro:if>
-        <xacro:if value="${type == 'revolute'}">
-            <xacro:if value="${joint_lower_limit == dummy_default_value}">
-                <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
-            </xacro:if>
-            <xacro:if value="${joint_upper_limit == dummy_default_value}">
-                <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
-            </xacro:if>
-        </xacro:if>
-        <xacro:unless value="${type =='fixed'}">
-            <xacro:if value="${joint_velocity_limit == dummy_default_value}">
-                <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
-            </xacro:if>
-            <xacro:if value="${joint_torque_limit == dummy_default_value}">
-                <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
-            </xacro:if>
-        </xacro:unless>
-
-        <joint name="${joint_name}" type="${type}">
-            <parent link="${parent}"/>
-            <child link="${child}"/>
-            <axis xyz="${joint_axis_xyz}"/>
-            <xacro:if value="${type == 'revolute'}">
-                <limit
-                    effort="${joint_torque_limit}"
-                    velocity="${joint_velocity_limit}"
-                    lower="${joint_lower_limit}"
-                    upper="${joint_upper_limit}"/>
-            </xacro:if>
-            <xacro:if value="${type == 'continuous'}">
-                <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
-            </xacro:if>
-            <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
-            <dynamics damping="0.0" friction="0.0"/>
+<root xmlns:xi="http://www.w3.org/2001/XInclude" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:property name="forque_color" value="0.4 0.4 0.4 1"/>
+  <xacro:property name="J_PI" value="3.1415926535897931"/>
+  <xacro:property name="default_inertial">
+    <inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
+  </xacro:property>
+  <xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
+    <link name="${link_name}">
+      <visual>
+        <geometry>
+          <mesh filename="package://ada_description/meshes/forque/${link_mesh}.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="abs">
+          <color rgba="${forque_color}"/>
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://ada_description/meshes/forque/${link_mesh}.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="${cog}" rpy="0 0 0"/>
+        <mass value="${mass}"/>
+        <xacro:insert_block name="inertia"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+  <xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${dummy_default_value} joint_upper_limit:=${dummy_default_value} joint_velocity_limit:=${dummy_default_value} joint_torque_limit:=${dummy_default_value} fixed:=false">
+    <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
+      <xacro:ERROR_inconsistent_joint_type_specification/>
+    </xacro:if>
+    <xacro:if value="${type == 'revolute'}">
+      <xacro:if value="${joint_lower_limit == dummy_default_value}">
+        <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
+      </xacro:if>
+      <xacro:if value="${joint_upper_limit == dummy_default_value}">
+        <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
+      </xacro:if>
+    </xacro:if>
+    <xacro:unless value="${type =='fixed'}">
+      <xacro:if value="${joint_velocity_limit == dummy_default_value}">
+        <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
+      </xacro:if>
+      <xacro:if value="${joint_torque_limit == dummy_default_value}">
+        <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
+      </xacro:if>
+    </xacro:unless>
+    <joint name="${joint_name}" type="${type}">
+      <parent link="${parent}"/>
+      <child link="${child}"/>
+      <axis xyz="${joint_axis_xyz}"/>
+      <xacro:if value="${type == 'revolute'}">
+        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}" lower="${joint_lower_limit}" upper="${joint_upper_limit}"/>
+      </xacro:if>
+      <xacro:if value="${type == 'continuous'}">
+        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
+      </xacro:if>
+      <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
+      <dynamics damping="0.0" friction="0.0"/>
+    </joint>
+    <xacro:unless value="${fixed}">
+      <transmission name="${joint_name}_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
         </joint>
-
-        <xacro:unless value="${fixed}">
-            <transmission name="${joint_name}_trans">
-                <type>transmission_interface/SimpleTransmission</type>
-                <joint name="${joint_name}">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                </joint>
-                <actuator name="${joint_name}_actuator">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                    <mechanicalReduction>160</mechanicalReduction>
-                </actuator>
-            </transmission>
-             
-            <!--For torque sensing in simulation-->
-            <gazebo reference="${joint_name}">
-                <provideFeedback>true</provideFeedback>
-            </gazebo>
-            <gazebo>
-                <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
-                    <updateRate>30.0</updateRate>
-                    <topicName>${joint_name}_ft_sensor_topic</topicName>
-                    <jointName>${joint_name}</jointName>
-                </plugin>
-            </gazebo>
-        </xacro:unless>
-	</xacro:macro>
-
-
-	<xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
-
-		<xacro:forque_assembly_link
-            link_name="FTMount"
-            link_mesh="2024_01_18_FTMount"
-            mass="0.103"
-            cog="0.010934 -0.138522 -0.05066">
-			<inertia
-                ixx="0.00017623"
-                iyy="0.000068428"
-                iyz="-0.00001757133"
-                izz="0.00021455"
-                ixy="0.00000095729"
-                ixz="-0.0000000562908"/>
-        </xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="FTMount_to_world"
-            type="fixed"
-            parent="${base_parent}"
-            child="FTMount"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 -0.005"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
-
-	  	<xacro:forque_assembly_link
-            link_name="FT"
-            link_mesh="2023_03_09_wirelessFT"
-            mass="0.280"
-            cog="0.0111446 -0.0882070 -0.0544936">
-	  		<inertia
-                ixx="0.000543925"
-                iyy="0.000165428"
-                iyz="-0.00000001487288"
-                izz="0.000691232"
-                ixy="-0.00000128367"
-                ixz="0"/>
-	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="FT_to_FTMount"
-            type="fixed"
-            parent="FTMount"
-            child="FT"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
-
-
-	  	<xacro:if value="${use_antenna}">
-            <xacro:forque_assembly_link
-                link_name="FTAntenna"
-                link_mesh="2023_03_09_wirelessFTAntenna"
-                mass="0.018"
-                cog="-0.0162965 0.0666626 -0.0545096">
-                <xacro:insert_block name="default_inertial"/>
-            </xacro:forque_assembly_link>
-    	  	<xacro:forque_assembly_joint
-                joint_name="FTAntenna_to_FT"
-                type="fixed"
-                parent="FT"
-                child="FTAntenna"
-                joint_axis_xyz="0 0 1"
-                joint_origin_xyz="0 0 0"
-                joint_origin_rpy="0 0 0"
-                fixed="true"/>
-		</xacro:if>
-
-	  	<xacro:forque_assembly_link
-            link_name="forkHandle"
-            link_mesh="2023_03_09_forkHandle"
-            mass="0.0506"
-            cog="0.0110024 -0.151715 -0.00934664">
-	  		<inertia
-                ixx="0.0000418078"
-                iyy="0.0000177249"
-                iyz="-0.000000210639"
-                izz="0.00005200336"
-                ixy="-0.000000396292"
-                ixz="0.00000002424697"/>
-	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint
-            joint_name="forkHandle_to_FTMount"
-            type="fixed"
-            parent="FTMount"
-            child="forkHandle"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="-0.025 0 0"
-            fixed="true"/>
-
-        <xacro:forque_assembly_link
-            link_name="AFBase"
-            link_mesh="fr12-h103"
-            mass="0.0907185"
-            cog="0.0 0.0 0.0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="AFBase_to_forkHandle"
-            type="fixed"
-            parent="forkHandle"
-            child="AFBase"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0.010929196 -0.278553 -0.011"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
-
-        <xacro:forque_assembly_link
-            link_name="AFMotor1"
-            link_mesh="XC-430_idle"
-            mass="0.065"
-            cog="0.21641853 -14.751192 -16.796092">
-            <inertia
-                ixx="18680.931"
-                iyy="9585.9138"
-                iyz="-845.46678"
-                izz="17346.641"
-                ixy="1.3348619"
-                ixz="-45.354028"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="AFMotor1_to_AFBase"
-            type="revolute"
-            parent="AFBase"
-            child="AFMotor1"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
-            joint_lower_limit="${-J_PI/2}"
-            joint_upper_limit="${J_PI/2}"
-            joint_velocity_limit="1"
-            joint_torque_limit="1.4"
-            fixed="false"/>
-
-        <xacro:forque_assembly_link
-            link_name="AFMotorFixture1"
-            link_mesh="fr12-s101"
-            mass="0.0453592"
-            cog="0 0 0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="AFMotorFixture1_to_AFMotor1"
-            type="fixed"
-            parent="AFMotor1"
-            child="AFMotorFixture1"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="0 ${-J_PI/2} 0"
-            fixed="true"/>
-
-        <xacro:forque_assembly_link
-            link_name="AFMotor2"
-            link_mesh="XC-430_idle"
-            mass="0.065"
-            cog="0.21641853 -14.751192 -16.796092">
-            <inertia
-                ixx="18680.931"
-                iyy="9585.9138"
-                iyz="-845.46678"
-                izz="17346.641"
-                ixy="1.3348619"
-                ixz="-45.354028"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="AFMotor2_to_AFMotor1"
-            type="fixed"
-            parent="AFMotor1"
-            child="AFMotor2"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.03825 0 0"
-            joint_origin_rpy="0 ${-J_PI/2} 0"
-            fixed="true"/>
-
-        <xacro:forque_assembly_link
-            link_name="AFFTAdapter"
-            link_mesh="roll_to_ft_adapter"
-            mass="0.001"
-            cog="0 0 0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="AFFTAdapter_to_AFMotor2"
-            type="revolute"
-            parent="AFMotor2"
-            child="AFFTAdapter"
-            joint_axis_xyz="0 1 0"
-            joint_origin_xyz="0 0 0.019"
-            joint_origin_rpy="${-J_PI/2} 0 0"
-            joint_lower_limit="${-J_PI}"
-            joint_upper_limit="${J_PI}"
-            joint_velocity_limit="1"
-            joint_torque_limit="1.4"
-            fixed="false"/>
-
-	  	<xacro:forque_assembly_link
-            link_name="forque"
-            link_mesh="ATI-9105-TW-NANO25-E"
-            mass="0.0634"
-            cog="0.0124692 0.0137169 0.010558">
-	  		<inertia
-                ixx="0.000005235822"
-                iyy="0.000006264852"
-                iyz="-0.00000004033694"
-                izz="0.00000640797"
-                ixy="-0.0000003129932"
-                ixz="0.000000013798"/>
-	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="forque_to_AFFTAdapter"
-            type="fixed"
-            parent="AFFTAdapter"
-            child="forque"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.0175 -0.011 0.004"
-            joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
-            fixed="true"/>
-
-	  	<xacro:forque_assembly_link
-            link_name="forkTine"
-            link_mesh="fork_tine"
-            mass="0.024"
-            cog="0.013090 0.0180789 0.0445231">
-	  		<inertia
-                ixx="0.0000098769"
-                iyy="0.000009848103"
-                iyz="0.00000057639"
-                izz="0.0000015674"
-                ixy="0.000000000806182"
-                ixz="-0.00000000296036"/>
-	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="forkTine_to_forque"
-            type="fixed"
-            parent="forque"
-            child="forkTine"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.0054 0.008 0.093"
-            joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"
-            fixed="true"/>
-
-	  	<link name="forkTip" />
-	  	<joint name="forkTip_to_forkTine" type="fixed">
-		    <child link="forkTip"/>
-		    <parent link="forkTine"/>
-		    <origin rpy="${J_PI} 0 0" xyz="0.0135 0.007 0"/>
-		</joint>
-
-	</xacro:macro>
-
-
+        <actuator name="${joint_name}_actuator">
+          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+          <mechanicalReduction>160</mechanicalReduction>
+        </actuator>
+      </transmission>
+      <!--For torque sensing in simulation-->
+      <gazebo reference="${joint_name}">
+        <provideFeedback>true</provideFeedback>
+      </gazebo>
+      <gazebo>
+        <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
+          <updateRate>30.0</updateRate>
+          <topicName>${joint_name}_ft_sensor_topic</topicName>
+          <jointName>${joint_name}</jointName>
+        </plugin>
+      </gazebo>
+    </xacro:unless>
+  </xacro:macro>
+  <xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
+    <xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
+      <inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
+      <inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
+    <xacro:if value="${use_antenna}">
+      <xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
+        <xacro:insert_block name="default_inertial"/>
+      </xacro:forque_assembly_link>
+      <xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
+    </xacro:if>
+    <xacro:forque_assembly_link link_name="forkHandle" link_mesh="2023_03_09_forkHandle" mass="0.0506" cog="0.0110024 -0.151715 -0.00934664">
+      <inertia ixx="0.0000418078" iyy="0.0000177249" iyz="-0.000000210639" izz="0.00005200336" ixy="-0.000000396292" ixz="0.00000002424697"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="AFBase" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
+      <xacro:insert_block name="default_inertial"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="AFBase_to_forkHandle" type="fixed" parent="forkHandle" child="AFBase" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="AFMotor1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+      <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="AFMotor1_to_AFBase" type="revolute" parent="AFBase" child="AFMotor1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+    <xacro:forque_assembly_link link_name="AFMotorFixture1" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
+      <xacro:insert_block name="default_inertial"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="AFMotorFixture1_to_AFMotor1" type="fixed" parent="AFMotor1" child="AFMotorFixture1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="AFMotor2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+      <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="AFMotor2_to_AFMotor1" type="fixed" parent="AFMotor1" child="AFMotor2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="AFFTAdapter" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
+      <xacro:insert_block name="default_inertial"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="AFFTAdapter_to_AFMotor2" type="revolute" parent="AFMotor2" child="AFFTAdapter" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+    <xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
+      <inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="forque_to_AFFTAdapter" type="fixed" parent="AFFTAdapter" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
+      <inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}" fixed="true"/>
+    <link name="forkTip"/>
+    <joint name="forkTip_to_forkTine" type="fixed">
+      <child link="forkTip"/>
+      <parent link="forkTine"/>
+      <origin rpy="${J_PI} 0 0" xyz="0.0135 0.007 0"/>
+    </joint>
+  </xacro:macro>
 </root>

From 9d435d996f83e56ebc090e312b2be76b5f65e551 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 11 Nov 2024 20:56:42 -0800
Subject: [PATCH 05/27] Rename Articulable Fork links and joints

---
 ada_description/urdf/forque/forque.xacro | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 795ff98..21e0fb9 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -103,30 +103,30 @@
       <inertia ixx="0.0000418078" iyy="0.0000177249" iyz="-0.000000210639" izz="0.00005200336" ixy="-0.000000396292" ixz="0.00000002424697"/>
     </xacro:forque_assembly_link>
     <xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="AFBase" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
+    <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
       <xacro:insert_block name="default_inertial"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="AFBase_to_forkHandle" type="fixed" parent="forkHandle" child="AFBase" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="AFMotor1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+    <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
       <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="AFMotor1_to_AFBase" type="revolute" parent="AFBase" child="AFMotor1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
-    <xacro:forque_assembly_link link_name="AFMotorFixture1" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
+    <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+    <xacro:forque_assembly_link link_name="af_motor_fixture_link" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
       <xacro:insert_block name="default_inertial"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="AFMotorFixture1_to_AFMotor1" type="fixed" parent="AFMotor1" child="AFMotorFixture1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="AFMotor2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+    <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="af_link_2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
       <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="AFMotor2_to_AFMotor1" type="fixed" parent="AFMotor1" child="AFMotor2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="AFFTAdapter" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
+    <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+    <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
       <xacro:insert_block name="default_inertial"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="AFFTAdapter_to_AFMotor2" type="revolute" parent="AFMotor2" child="AFFTAdapter" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+    <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
     <xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
       <inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="forque_to_AFFTAdapter" type="fixed" parent="AFFTAdapter" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
+    <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
     <xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
       <inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
     </xacro:forque_assembly_link>

From 0c81299b11e0d144b3ca7e269df103628b70fc7b Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 11 Nov 2024 21:22:51 -0800
Subject: [PATCH 06/27] Add default configuration for Articulable Fork joints

---
 ada_description/rviz/view_robot.rviz | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/ada_description/rviz/view_robot.rviz b/ada_description/rviz/view_robot.rviz
index d51156d..15546ea 100644
--- a/ada_description/rviz/view_robot.rviz
+++ b/ada_description/rviz/view_robot.rviz
@@ -67,6 +67,30 @@ Visualization Manager:
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
+        af_link_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_motor_fixture_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_ft_adapter_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         FT:
           Alpha: 1
           Show Axes: false

From 1d20fda48d68edf7256c42adcf0a8a0fb0ade04a Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 12:38:17 -0800
Subject: [PATCH 07/27] Revert "Format forque.xacro using xmllint"

This reverts commit c102e1292a4f50af169dd07c585b8a3e4011559d.
---
 ada_description/urdf/forque/forque.xacro | 509 +++++++++++++++++------
 1 file changed, 375 insertions(+), 134 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 21e0fb9..422fa1d 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -1,141 +1,382 @@
 <?xml version="1.0"?>
-<root xmlns:xi="http://www.w3.org/2001/XInclude" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:property name="forque_color" value="0.4 0.4 0.4 1"/>
-  <xacro:property name="J_PI" value="3.1415926535897931"/>
-  <xacro:property name="default_inertial">
-    <inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
-  </xacro:property>
-  <xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
-    <link name="${link_name}">
-      <visual>
-        <geometry>
-          <mesh filename="package://ada_description/meshes/forque/${link_mesh}.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <material name="abs">
-          <color rgba="${forque_color}"/>
-        </material>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://ada_description/meshes/forque/${link_mesh}.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <origin xyz="${cog}" rpy="0 0 0"/>
-        <mass value="${mass}"/>
-        <xacro:insert_block name="inertia"/>
-      </inertial>
-    </link>
-  </xacro:macro>
-  <xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${dummy_default_value} joint_upper_limit:=${dummy_default_value} joint_velocity_limit:=${dummy_default_value} joint_torque_limit:=${dummy_default_value} fixed:=false">
-    <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
-      <xacro:ERROR_inconsistent_joint_type_specification/>
-    </xacro:if>
-    <xacro:if value="${type == 'revolute'}">
-      <xacro:if value="${joint_lower_limit == dummy_default_value}">
-        <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
-      </xacro:if>
-      <xacro:if value="${joint_upper_limit == dummy_default_value}">
-        <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
-      </xacro:if>
-    </xacro:if>
-    <xacro:unless value="${type =='fixed'}">
-      <xacro:if value="${joint_velocity_limit == dummy_default_value}">
-        <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
-      </xacro:if>
-      <xacro:if value="${joint_torque_limit == dummy_default_value}">
-        <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
-      </xacro:if>
-    </xacro:unless>
-    <joint name="${joint_name}" type="${type}">
-      <parent link="${parent}"/>
-      <child link="${child}"/>
-      <axis xyz="${joint_axis_xyz}"/>
-      <xacro:if value="${type == 'revolute'}">
-        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}" lower="${joint_lower_limit}" upper="${joint_upper_limit}"/>
-      </xacro:if>
-      <xacro:if value="${type == 'continuous'}">
-        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
-      </xacro:if>
-      <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
-      <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <xacro:unless value="${fixed}">
-      <transmission name="${joint_name}_trans">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="${joint_name}">
-          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+
+<root xmlns:xi="http://www.w3.org/2001/XInclude"
+	xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+	xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+	xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+	xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+	xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<xacro:property name="forque_color" value="0.4 0.4 0.4 1" />
+	<xacro:property name="J_PI" value="3.1415926535897931" />
+	<xacro:property name="default_inertial">
+		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
+	</xacro:property>
+
+	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
+		<link name="${link_name}">
+			<visual>
+				<geometry>
+					<mesh
+						filename="package://ada_description/meshes/forque/${link_mesh}.stl"
+						scale="0.001 0.001 0.001"/>
+				</geometry>
+				<material name="abs">
+					<color rgba="${forque_color}" />
+				</material>
+			</visual>
+			<collision>
+                <geometry>
+                    <mesh
+						filename="package://ada_description/meshes/forque/${link_mesh}.stl"
+						scale="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+            <inertial>
+            	<origin xyz="${cog}" rpy="0 0 0"/>
+            	<mass value="${mass}"/>
+            	<xacro:insert_block name="inertia"/>
+            </inertial>
+		</link>
+	</xacro:macro>
+
+	<xacro:macro name="forque_assembly_joint" params="joint_name
+                                                      type
+                                                      parent
+                                                      child
+                                                      joint_axis_xyz
+                                                      joint_origin_xyz
+                                                      joint_origin_rpy
+                                                      joint_lower_limit:=${dummy_default_value}
+                                                      joint_upper_limit:=${dummy_default_value}
+                                                      joint_velocity_limit:=${dummy_default_value}
+                                                      joint_torque_limit:=${dummy_default_value}
+                                                      fixed:=false">
+
+        <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
+            <xacro:ERROR_inconsistent_joint_type_specification/>
+        </xacro:if>
+        <xacro:if value="${type == 'revolute'}">
+            <xacro:if value="${joint_lower_limit == dummy_default_value}">
+                <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
+            </xacro:if>
+            <xacro:if value="${joint_upper_limit == dummy_default_value}">
+                <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
+            </xacro:if>
+        </xacro:if>
+        <xacro:unless value="${type =='fixed'}">
+            <xacro:if value="${joint_velocity_limit == dummy_default_value}">
+                <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
+            </xacro:if>
+            <xacro:if value="${joint_torque_limit == dummy_default_value}">
+                <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
+            </xacro:if>
+        </xacro:unless>
+
+        <joint name="${joint_name}" type="${type}">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <axis xyz="${joint_axis_xyz}"/>
+            <xacro:if value="${type == 'revolute'}">
+                <limit
+                    effort="${joint_torque_limit}"
+                    velocity="${joint_velocity_limit}"
+                    lower="${joint_lower_limit}"
+                    upper="${joint_upper_limit}"/>
+            </xacro:if>
+            <xacro:if value="${type == 'continuous'}">
+                <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
+            </xacro:if>
+            <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
+            <dynamics damping="0.0" friction="0.0"/>
         </joint>
         <actuator name="${joint_name}_actuator">
           <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
           <mechanicalReduction>160</mechanicalReduction>
         </actuator>
-      </transmission>
-      <!--For torque sensing in simulation-->
-      <gazebo reference="${joint_name}">
-        <provideFeedback>true</provideFeedback>
-      </gazebo>
-      <gazebo>
-        <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
-          <updateRate>30.0</updateRate>
-          <topicName>${joint_name}_ft_sensor_topic</topicName>
-          <jointName>${joint_name}</jointName>
-        </plugin>
-      </gazebo>
-    </xacro:unless>
-  </xacro:macro>
-  <xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
-    <xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
-      <inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
-      <inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
-    <xacro:if value="${use_antenna}">
-      <xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
-        <xacro:insert_block name="default_inertial"/>
-      </xacro:forque_assembly_link>
-      <xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
-    </xacro:if>
-    <xacro:forque_assembly_link link_name="forkHandle" link_mesh="2023_03_09_forkHandle" mass="0.0506" cog="0.0110024 -0.151715 -0.00934664">
-      <inertia ixx="0.0000418078" iyy="0.0000177249" iyz="-0.000000210639" izz="0.00005200336" ixy="-0.000000396292" ixz="0.00000002424697"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
-      <xacro:insert_block name="default_inertial"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
-      <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
-    <xacro:forque_assembly_link link_name="af_motor_fixture_link" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
-      <xacro:insert_block name="default_inertial"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="af_link_2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
-      <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
-      <xacro:insert_block name="default_inertial"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
-    <xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
-      <inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
-    <xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
-      <inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
-    </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}" fixed="true"/>
-    <link name="forkTip"/>
-    <joint name="forkTip_to_forkTine" type="fixed">
-      <child link="forkTip"/>
-      <parent link="forkTine"/>
-      <origin rpy="${J_PI} 0 0" xyz="0.0135 0.007 0"/>
-    </joint>
-  </xacro:macro>
+
+        <xacro:unless value="${fixed}">
+            <transmission name="${joint_name}_trans">
+                <type>transmission_interface/SimpleTransmission</type>
+                <joint name="${joint_name}">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                </joint>
+                <actuator name="${joint_name}_actuator">
+                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                    <mechanicalReduction>160</mechanicalReduction>
+                </actuator>
+            </transmission>
+             
+            <!--For torque sensing in simulation-->
+            <gazebo reference="${joint_name}">
+                <provideFeedback>true</provideFeedback>
+            </gazebo>
+            <gazebo>
+                <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
+                    <updateRate>30.0</updateRate>
+                    <topicName>${joint_name}_ft_sensor_topic</topicName>
+                    <jointName>${joint_name}</jointName>
+                </plugin>
+            </gazebo>
+        </xacro:unless>
+	</xacro:macro>
+
+	<xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
+
+		<xacro:forque_assembly_link
+            link_name="FTMount"
+            link_mesh="2024_01_18_FTMount"
+            mass="0.103"
+            cog="0.010934 -0.138522 -0.05066">
+			<inertia
+                ixx="0.00017623"
+                iyy="0.000068428"
+                iyz="-0.00001757133"
+                izz="0.00021455"
+                ixy="0.00000095729"
+                ixz="-0.0000000562908"/>
+        </xacro:forque_assembly_link>
+	  	<xacro:forque_assembly_joint
+            joint_name="FTMount_to_world"
+            type="fixed"
+            parent="${base_parent}"
+            child="FTMount"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 -0.005"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
+
+	  	<xacro:forque_assembly_link
+            link_name="FT"
+            link_mesh="2023_03_09_wirelessFT"
+            mass="0.280"
+            cog="0.0111446 -0.0882070 -0.0544936">
+	  		<inertia
+                ixx="0.000543925"
+                iyy="0.000165428"
+                iyz="-0.00000001487288"
+                izz="0.000691232"
+                ixy="-0.00000128367"
+                ixz="0"/>
+	  	</xacro:forque_assembly_link>
+	  	<xacro:forque_assembly_joint
+            joint_name="FT_to_FTMount"
+            type="fixed"
+            parent="FTMount"
+            child="FT"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
+
+
+	  	<xacro:if value="${use_antenna}">
+            <xacro:forque_assembly_link
+                link_name="FTAntenna"
+                link_mesh="2023_03_09_wirelessFTAntenna"
+                mass="0.018"
+                cog="-0.0162965 0.0666626 -0.0545096">
+                <xacro:insert_block name="default_inertial"/>
+            </xacro:forque_assembly_link>
+    	  	<xacro:forque_assembly_joint
+                joint_name="FTAntenna_to_FT"
+                type="fixed"
+                parent="FT"
+                child="FTAntenna"
+                joint_axis_xyz="0 0 1"
+                joint_origin_xyz="0 0 0"
+                joint_origin_rpy="0 0 0"
+                fixed="true"/>
+		</xacro:if>
+
+	  	<xacro:forque_assembly_link
+            link_name="forkHandle"
+            link_mesh="2023_03_09_forkHandle"
+            mass="0.0506"
+            cog="0.0110024 -0.151715 -0.00934664">
+	  		<inertia
+                ixx="0.0000418078"
+                iyy="0.0000177249"
+                iyz="-0.000000210639"
+                izz="0.00005200336"
+                ixy="-0.000000396292"
+                ixz="0.00000002424697"/>
+	  	</xacro:forque_assembly_link>
+		<xacro:forque_assembly_joint
+            joint_name="forkHandle_to_FTMount"
+            type="fixed"
+            parent="FTMount"
+            child="forkHandle"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="-0.025 0 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="af_link_base"
+            link_mesh="fr12-h103"
+            mass="0.0907185"
+            cog="0.0 0.0 0.0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="af_joint_base"
+            type="fixed"
+            parent="forkHandle"
+            child="af_link_base"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0.010929196 -0.278553 -0.011"
+            joint_origin_rpy="0 0 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="af_link_1"
+            link_mesh="XC-430_idle"
+            mass="0.065"
+            cog="0.21641853 -14.751192 -16.796092">
+            <inertia
+                ixx="18680.931"
+                iyy="9585.9138"
+                iyz="-845.46678"
+                izz="17346.641"
+                ixy="1.3348619"
+                ixz="-45.354028"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="af_joint_1"
+            type="revolute"
+            parent="af_link_base"
+            child="af_link_1"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
+            joint_lower_limit="${-J_PI/2}"
+            joint_upper_limit="${J_PI/2}"
+            joint_velocity_limit="1"
+            joint_torque_limit="1.4"
+            fixed="false"/>
+
+        <xacro:forque_assembly_link
+            link_name="af_motor_fixture_link"
+            link_mesh="fr12-s101"
+            mass="0.0453592"
+            cog="0 0 0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="af_motor_fixture_joint_1"
+            type="fixed"
+            parent="af_link_1"
+            child="af_motor_fixture_link"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="0 0 0"
+            joint_origin_rpy="0 ${-J_PI/2} 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="af_link_2"
+            link_mesh="XC-430_idle"
+            mass="0.065"
+            cog="0.21641853 -14.751192 -16.796092">
+            <inertia
+                ixx="18680.931"
+                iyy="9585.9138"
+                iyz="-845.46678"
+                izz="17346.641"
+                ixy="1.3348619"
+                ixz="-45.354028"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="af_motor_fixture_joint_2"
+            type="fixed"
+            parent="af_link_1"
+            child="af_link_2"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.03825 0 0"
+            joint_origin_rpy="0 ${-J_PI/2} 0"
+            fixed="true"/>
+
+        <xacro:forque_assembly_link
+            link_name="af_ft_adapter_link"
+            link_mesh="roll_to_ft_adapter"
+            mass="0.001"
+            cog="0 0 0">
+            <xacro:insert_block name="default_inertial"/>
+        </xacro:forque_assembly_link>
+        <xacro:forque_assembly_joint
+            joint_name="af_joint_2"
+            type="revolute"
+            parent="af_link_2"
+            child="af_ft_adapter_link"
+            joint_axis_xyz="0 1 0"
+            joint_origin_xyz="0 0 0.019"
+            joint_origin_rpy="${-J_PI/2} 0 0"
+            joint_lower_limit="${-J_PI}"
+            joint_upper_limit="${J_PI}"
+            joint_velocity_limit="1"
+            joint_torque_limit="1.4"
+            fixed="false"/>
+
+	  	<xacro:forque_assembly_link
+            link_name="forque"
+            link_mesh="ATI-9105-TW-NANO25-E"
+            mass="0.0634"
+            cog="0.0124692 0.0137169 0.010558">
+	  		<inertia
+                ixx="0.000005235822"
+                iyy="0.000006264852"
+                iyz="-0.00000004033694"
+                izz="0.00000640797"
+                ixy="-0.0000003129932"
+                ixz="0.000000013798"/>
+	  	</xacro:forque_assembly_link>
+	  	<xacro:forque_assembly_joint
+            joint_name="af_forque_joint"
+            type="fixed"
+            parent="af_ft_adapter_link"
+            child="forque"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.0175 -0.011 0.004"
+            joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
+            fixed="true"/>
+
+	  	<xacro:forque_assembly_link
+            link_name="forkTine"
+            link_mesh="fork_tine"
+            mass="0.024"
+            cog="0.013090 0.0180789 0.0445231">
+	  		<inertia
+                ixx="0.0000098769"
+                iyy="0.000009848103"
+                iyz="0.00000057639"
+                izz="0.0000015674"
+                ixy="0.000000000806182"
+                ixz="-0.00000000296036"/>
+	  	</xacro:forque_assembly_link>
+	  	<xacro:forque_assembly_joint
+            joint_name="forkTine_to_forque"
+            type="fixed"
+            parent="forque"
+            child="forkTine"
+            joint_axis_xyz="0 0 1"
+            joint_origin_xyz="-0.0054 0.008 0.093"
+            joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"
+            fixed="true"/>
+
+	  	<link name="forkTip" />
+	  	<joint name="forkTip_to_forkTine" type="fixed">
+		    <child link="forkTip"/>
+		    <parent link="forkTine"/>
+		    <origin rpy="${J_PI} 0 0" xyz="0.0135 0.007 0"/>
+		</joint>
+
+	</xacro:macro>
+
 </root>

From 6efbe95e15187eef8fea03eef8507973229b4419 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 12:53:19 -0800
Subject: [PATCH 08/27] Add end_effector_tool configuration, remove use_forque
 configuration

---
 ada_description/launch/view_ada.launch.py | 12 ++++++------
 ada_description/urdf/ada.xacro            |  7 ++++---
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/ada_description/launch/view_ada.launch.py b/ada_description/launch/view_ada.launch.py
index 269cd44..2ce5bd5 100644
--- a/ada_description/launch/view_ada.launch.py
+++ b/ada_description/launch/view_ada.launch.py
@@ -63,9 +63,9 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_forque",
-            default_value="false",
-            description="If the forque apparatus is being used.",
+            "end_effector_tool",
+            default_value="none",
+            description="The end-effector tool being used: none, fork, articulable_fork",
         )
     )
 
@@ -73,7 +73,7 @@ def generate_launch_description():
     # General arguments
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
-    use_forque = LaunchConfiguration("use_forque")
+    end_effector_tool = LaunchConfiguration("end_effector_tool")
 
     robot_description_content = Command(
         [
@@ -83,8 +83,8 @@ def generate_launch_description():
                 [FindPackageShare(description_package), "urdf", description_file]
             ),
             " ",
-            "use_forque:=",
-            use_forque,
+            "end_effector_tool:=",
+            end_effector_tool
         ]
     )
     robot_description = {
diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index eef26ba..5dae85a 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -18,7 +18,8 @@
   <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
   <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
 
-  <xacro:arg name="use_forque" default="true"/>
+  <xacro:arg name="end_effector_tool" default="fork"/>
+  <xacro:property name="cmp_end_effector_tool" value="$(arg end_effector_tool)"/>
 
   <link name="root"/>
   
@@ -80,7 +81,7 @@
       joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
       fixed="true"/>
 
-  <xacro:if value="$(arg use_forque)">
+  <xacro:unless value="${cmp_end_effector_tool == 'none'}">
     <xacro:forque_assembly base_parent="FTArmMount"/>
 
     <link name="FTSensor" />
@@ -89,6 +90,6 @@
         <parent link="j2n6s200_end_effector"/>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
     </joint>
-  </xacro:if>
+  </xacro:unless>
 
 </robot>

From 1ac9d626fd4118dea4b416c7e8d758c6586dcfa7 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 13:33:31 -0800
Subject: [PATCH 09/27] Conditionally modify fork URDF based on
 end_effector_tool

---
 ada_description/urdf/ada.xacro           |   2 +-
 ada_description/urdf/forque/forque.xacro | 235 ++++++++++++-----------
 2 files changed, 126 insertions(+), 111 deletions(-)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 5dae85a..a39657b 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -82,7 +82,7 @@
       fixed="true"/>
 
   <xacro:unless value="${cmp_end_effector_tool == 'none'}">
-    <xacro:forque_assembly base_parent="FTArmMount"/>
+    <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${cmp_end_effector_tool}"/>
 
     <link name="FTSensor" />
     <joint name="EE_to_FTSensor" type="fixed">
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 422fa1d..935def0 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -128,7 +128,7 @@
         </xacro:unless>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
+	<xacro:macro name="forque_assembly" params="base_parent end_effector_tool use_antenna:=false">
 
 		<xacro:forque_assembly_link
             link_name="FTMount"
@@ -219,110 +219,112 @@
             joint_origin_rpy="-0.025 0 0"
             fixed="true"/>
 
-        <xacro:forque_assembly_link
-            link_name="af_link_base"
-            link_mesh="fr12-h103"
-            mass="0.0907185"
-            cog="0.0 0.0 0.0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="af_joint_base"
-            type="fixed"
-            parent="forkHandle"
-            child="af_link_base"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0.010929196 -0.278553 -0.011"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
+      <xacro:if value="${end_effector_tool == 'articulable_fork'}">
+          <xacro:forque_assembly_link
+              link_name="af_link_base"
+              link_mesh="fr12-h103"
+              mass="0.0907185"
+              cog="0.0 0.0 0.0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint
+              joint_name="af_joint_base"
+              type="fixed"
+              parent="forkHandle"
+              child="af_link_base"
+              joint_axis_xyz="0 0 1"
+              joint_origin_xyz="0.010929196 -0.278553 -0.011"
+              joint_origin_rpy="0 0 0"
+              fixed="true"/>
 
-        <xacro:forque_assembly_link
-            link_name="af_link_1"
-            link_mesh="XC-430_idle"
-            mass="0.065"
-            cog="0.21641853 -14.751192 -16.796092">
-            <inertia
-                ixx="18680.931"
-                iyy="9585.9138"
-                iyz="-845.46678"
-                izz="17346.641"
-                ixy="1.3348619"
-                ixz="-45.354028"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="af_joint_1"
-            type="revolute"
-            parent="af_link_base"
-            child="af_link_1"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
-            joint_lower_limit="${-J_PI/2}"
-            joint_upper_limit="${J_PI/2}"
-            joint_velocity_limit="1"
-            joint_torque_limit="1.4"
-            fixed="false"/>
+          <xacro:forque_assembly_link
+              link_name="af_link_1"
+              link_mesh="XC-430_idle"
+              mass="0.065"
+              cog="0.21641853 -14.751192 -16.796092">
+              <inertia
+                  ixx="18680.931"
+                  iyy="9585.9138"
+                  iyz="-845.46678"
+                  izz="17346.641"
+                  ixy="1.3348619"
+                  ixz="-45.354028"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint
+              joint_name="af_joint_1"
+              type="revolute"
+              parent="af_link_base"
+              child="af_link_1"
+              joint_axis_xyz="0 0 1"
+              joint_origin_xyz="0 0 0"
+              joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
+              joint_lower_limit="${-J_PI/2}"
+              joint_upper_limit="${J_PI/2}"
+              joint_velocity_limit="1"
+              joint_torque_limit="1.4"
+              fixed="false"/>
 
-        <xacro:forque_assembly_link
-            link_name="af_motor_fixture_link"
-            link_mesh="fr12-s101"
-            mass="0.0453592"
-            cog="0 0 0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="af_motor_fixture_joint_1"
-            type="fixed"
-            parent="af_link_1"
-            child="af_motor_fixture_link"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="0 ${-J_PI/2} 0"
-            fixed="true"/>
+          <xacro:forque_assembly_link
+              link_name="af_motor_fixture_link"
+              link_mesh="fr12-s101"
+              mass="0.0453592"
+              cog="0 0 0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint
+              joint_name="af_motor_fixture_joint_1"
+              type="fixed"
+              parent="af_link_1"
+              child="af_motor_fixture_link"
+              joint_axis_xyz="0 0 1"
+              joint_origin_xyz="0 0 0"
+              joint_origin_rpy="0 ${-J_PI/2} 0"
+              fixed="true"/>
 
-        <xacro:forque_assembly_link
-            link_name="af_link_2"
-            link_mesh="XC-430_idle"
-            mass="0.065"
-            cog="0.21641853 -14.751192 -16.796092">
-            <inertia
-                ixx="18680.931"
-                iyy="9585.9138"
-                iyz="-845.46678"
-                izz="17346.641"
-                ixy="1.3348619"
-                ixz="-45.354028"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="af_motor_fixture_joint_2"
-            type="fixed"
-            parent="af_link_1"
-            child="af_link_2"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.03825 0 0"
-            joint_origin_rpy="0 ${-J_PI/2} 0"
-            fixed="true"/>
+          <xacro:forque_assembly_link
+              link_name="af_link_2"
+              link_mesh="XC-430_idle"
+              mass="0.065"
+              cog="0.21641853 -14.751192 -16.796092">
+              <inertia
+                  ixx="18680.931"
+                  iyy="9585.9138"
+                  iyz="-845.46678"
+                  izz="17346.641"
+                  ixy="1.3348619"
+                  ixz="-45.354028"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint
+              joint_name="af_motor_fixture_joint_2"
+              type="fixed"
+              parent="af_link_1"
+              child="af_link_2"
+              joint_axis_xyz="0 0 1"
+              joint_origin_xyz="-0.03825 0 0"
+              joint_origin_rpy="0 ${-J_PI/2} 0"
+              fixed="true"/>
 
-        <xacro:forque_assembly_link
-            link_name="af_ft_adapter_link"
-            link_mesh="roll_to_ft_adapter"
-            mass="0.001"
-            cog="0 0 0">
-            <xacro:insert_block name="default_inertial"/>
-        </xacro:forque_assembly_link>
-        <xacro:forque_assembly_joint
-            joint_name="af_joint_2"
-            type="revolute"
-            parent="af_link_2"
-            child="af_ft_adapter_link"
-            joint_axis_xyz="0 1 0"
-            joint_origin_xyz="0 0 0.019"
-            joint_origin_rpy="${-J_PI/2} 0 0"
-            joint_lower_limit="${-J_PI}"
-            joint_upper_limit="${J_PI}"
-            joint_velocity_limit="1"
-            joint_torque_limit="1.4"
-            fixed="false"/>
+          <xacro:forque_assembly_link
+              link_name="af_ft_adapter_link"
+              link_mesh="roll_to_ft_adapter"
+              mass="0.001"
+              cog="0 0 0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint
+              joint_name="af_joint_2"
+              type="revolute"
+              parent="af_link_2"
+              child="af_ft_adapter_link"
+              joint_axis_xyz="0 1 0"
+              joint_origin_xyz="0 0 0.019"
+              joint_origin_rpy="${-J_PI/2} 0 0"
+              joint_lower_limit="${-J_PI}"
+              joint_upper_limit="${J_PI}"
+              joint_velocity_limit="1"
+              joint_torque_limit="1.4"
+              fixed="false"/>
+      </xacro:if>
 
 	  	<xacro:forque_assembly_link
             link_name="forque"
@@ -337,15 +339,28 @@
                 ixy="-0.0000003129932"
                 ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="af_forque_joint"
-            type="fixed"
-            parent="af_ft_adapter_link"
-            child="forque"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.0175 -0.011 0.004"
-            joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
-            fixed="true"/>
+      <xacro:if value="${end_effector_tool == 'articulable_fork'}">
+          <xacro:forque_assembly_joint
+                joint_name="af_forque_joint"
+                type="fixed"
+                parent="af_ft_adapter_link"
+                child="forque"
+                joint_axis_xyz="0 0 1"
+                joint_origin_xyz="-0.0175 -0.011 0.004"
+                joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
+                fixed="true"/>
+      </xacro:if>
+      <xacro:if value="${end_effector_tool == 'fork'}">
+          <xacro:forque_assembly_joint
+                joint_name="forque_to_forkHandle"
+                type="fixed"
+                parent="forkHandle"
+                child="forque"
+                joint_axis_xyz="0 0 1"
+                joint_origin_xyz="-0.00634 -0.222553 -0.004286"
+                joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
+                fixed="true"/>
+      </xacro:if>
 
 	  	<xacro:forque_assembly_link
             link_name="forkTine"

From f463f1f04f7d84b9e960b0305d456e4f55e83351 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 13:58:41 -0800
Subject: [PATCH 10/27] Collapse XACRO elements

---
 ada_description/urdf/forque/forque.xacro | 265 +++--------------------
 1 file changed, 32 insertions(+), 233 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 935def0..8a5db0c 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -47,18 +47,7 @@
 		</link>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly_joint" params="joint_name
-                                                      type
-                                                      parent
-                                                      child
-                                                      joint_axis_xyz
-                                                      joint_origin_xyz
-                                                      joint_origin_rpy
-                                                      joint_lower_limit:=${dummy_default_value}
-                                                      joint_upper_limit:=${dummy_default_value}
-                                                      joint_velocity_limit:=${dummy_default_value}
-                                                      joint_torque_limit:=${dummy_default_value}
-                                                      fixed:=false">
+	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${dummy_default_value} joint_upper_limit:=${dummy_default_value} joint_velocity_limit:=${dummy_default_value} joint_torque_limit:=${dummy_default_value} fixed:=false">
 
         <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
             <xacro:ERROR_inconsistent_joint_type_specification/>
@@ -130,262 +119,72 @@
 
 	<xacro:macro name="forque_assembly" params="base_parent end_effector_tool use_antenna:=false">
 
-		<xacro:forque_assembly_link
-            link_name="FTMount"
-            link_mesh="2024_01_18_FTMount"
-            mass="0.103"
-            cog="0.010934 -0.138522 -0.05066">
-			<inertia
-                ixx="0.00017623"
-                iyy="0.000068428"
-                iyz="-0.00001757133"
-                izz="0.00021455"
-                ixy="0.00000095729"
-                ixz="-0.0000000562908"/>
+		<xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
+			<inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
         </xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="FTMount_to_world"
-            type="fixed"
-            parent="${base_parent}"
-            child="FTMount"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 -0.005"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0" fixed="true"/>
 
-	  	<xacro:forque_assembly_link
-            link_name="FT"
-            link_mesh="2023_03_09_wirelessFT"
-            mass="0.280"
-            cog="0.0111446 -0.0882070 -0.0544936">
-	  		<inertia
-                ixx="0.000543925"
-                iyy="0.000165428"
-                iyz="-0.00000001487288"
-                izz="0.000691232"
-                ixy="-0.00000128367"
-                ixz="0"/>
+	  	<xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
+	  		<inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="FT_to_FTMount"
-            type="fixed"
-            parent="FTMount"
-            child="FT"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="0 0 0"
-            fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
 
 
 	  	<xacro:if value="${use_antenna}">
-            <xacro:forque_assembly_link
-                link_name="FTAntenna"
-                link_mesh="2023_03_09_wirelessFTAntenna"
-                mass="0.018"
-                cog="-0.0162965 0.0666626 -0.0545096">
+            <xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
                 <xacro:insert_block name="default_inertial"/>
             </xacro:forque_assembly_link>
-    	  	<xacro:forque_assembly_joint
-                joint_name="FTAntenna_to_FT"
-                type="fixed"
-                parent="FT"
-                child="FTAntenna"
-                joint_axis_xyz="0 0 1"
-                joint_origin_xyz="0 0 0"
-                joint_origin_rpy="0 0 0"
-                fixed="true"/>
+    	  	<xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
 		</xacro:if>
 
-	  	<xacro:forque_assembly_link
-            link_name="forkHandle"
-            link_mesh="2023_03_09_forkHandle"
-            mass="0.0506"
-            cog="0.0110024 -0.151715 -0.00934664">
-	  		<inertia
-                ixx="0.0000418078"
-                iyy="0.0000177249"
-                iyz="-0.000000210639"
-                izz="0.00005200336"
-                ixy="-0.000000396292"
-                ixz="0.00000002424697"/>
+	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2023_03_09_forkHandle" mass="0.0506" cog="0.0110024 -0.151715 -0.00934664">
+	  		<inertia ixx="0.0000418078" iyy="0.0000177249" iyz="-0.000000210639" izz="0.00005200336" ixy="-0.000000396292" ixz="0.00000002424697"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint
-            joint_name="forkHandle_to_FTMount"
-            type="fixed"
-            parent="FTMount"
-            child="forkHandle"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="0 0 0"
-            joint_origin_rpy="-0.025 0 0"
-            fixed="true"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0" fixed="true"/>
 
       <xacro:if value="${end_effector_tool == 'articulable_fork'}">
-          <xacro:forque_assembly_link
-              link_name="af_link_base"
-              link_mesh="fr12-h103"
-              mass="0.0907185"
-              cog="0.0 0.0 0.0">
+          <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint
-              joint_name="af_joint_base"
-              type="fixed"
-              parent="forkHandle"
-              child="af_link_base"
-              joint_axis_xyz="0 0 1"
-              joint_origin_xyz="0.010929196 -0.278553 -0.011"
-              joint_origin_rpy="0 0 0"
-              fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
 
-          <xacro:forque_assembly_link
-              link_name="af_link_1"
-              link_mesh="XC-430_idle"
-              mass="0.065"
-              cog="0.21641853 -14.751192 -16.796092">
-              <inertia
-                  ixx="18680.931"
-                  iyy="9585.9138"
-                  iyz="-845.46678"
-                  izz="17346.641"
-                  ixy="1.3348619"
-                  ixz="-45.354028"/>
+          <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+              <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint
-              joint_name="af_joint_1"
-              type="revolute"
-              parent="af_link_base"
-              child="af_link_1"
-              joint_axis_xyz="0 0 1"
-              joint_origin_xyz="0 0 0"
-              joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
-              joint_lower_limit="${-J_PI/2}"
-              joint_upper_limit="${J_PI/2}"
-              joint_velocity_limit="1"
-              joint_torque_limit="1.4"
-              fixed="false"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
 
-          <xacro:forque_assembly_link
-              link_name="af_motor_fixture_link"
-              link_mesh="fr12-s101"
-              mass="0.0453592"
-              cog="0 0 0">
+          <xacro:forque_assembly_link link_name="af_motor_fixture_link" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint
-              joint_name="af_motor_fixture_joint_1"
-              type="fixed"
-              parent="af_link_1"
-              child="af_motor_fixture_link"
-              joint_axis_xyz="0 0 1"
-              joint_origin_xyz="0 0 0"
-              joint_origin_rpy="0 ${-J_PI/2} 0"
-              fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
 
-          <xacro:forque_assembly_link
-              link_name="af_link_2"
-              link_mesh="XC-430_idle"
-              mass="0.065"
-              cog="0.21641853 -14.751192 -16.796092">
-              <inertia
-                  ixx="18680.931"
-                  iyy="9585.9138"
-                  iyz="-845.46678"
-                  izz="17346.641"
-                  ixy="1.3348619"
-                  ixz="-45.354028"/>
+          <xacro:forque_assembly_link link_name="af_link_2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+              <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint
-              joint_name="af_motor_fixture_joint_2"
-              type="fixed"
-              parent="af_link_1"
-              child="af_link_2"
-              joint_axis_xyz="0 0 1"
-              joint_origin_xyz="-0.03825 0 0"
-              joint_origin_rpy="0 ${-J_PI/2} 0"
-              fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
 
-          <xacro:forque_assembly_link
-              link_name="af_ft_adapter_link"
-              link_mesh="roll_to_ft_adapter"
-              mass="0.001"
-              cog="0 0 0">
+          <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint
-              joint_name="af_joint_2"
-              type="revolute"
-              parent="af_link_2"
-              child="af_ft_adapter_link"
-              joint_axis_xyz="0 1 0"
-              joint_origin_xyz="0 0 0.019"
-              joint_origin_rpy="${-J_PI/2} 0 0"
-              joint_lower_limit="${-J_PI}"
-              joint_upper_limit="${J_PI}"
-              joint_velocity_limit="1"
-              joint_torque_limit="1.4"
-              fixed="false"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
       </xacro:if>
 
-	  	<xacro:forque_assembly_link
-            link_name="forque"
-            link_mesh="ATI-9105-TW-NANO25-E"
-            mass="0.0634"
-            cog="0.0124692 0.0137169 0.010558">
-	  		<inertia
-                ixx="0.000005235822"
-                iyy="0.000006264852"
-                iyz="-0.00000004033694"
-                izz="0.00000640797"
-                ixy="-0.0000003129932"
-                ixz="0.000000013798"/>
+	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
+	  		<inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
       <xacro:if value="${end_effector_tool == 'articulable_fork'}">
-          <xacro:forque_assembly_joint
-                joint_name="af_forque_joint"
-                type="fixed"
-                parent="af_ft_adapter_link"
-                child="forque"
-                joint_axis_xyz="0 0 1"
-                joint_origin_xyz="-0.0175 -0.011 0.004"
-                joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
-                fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
       </xacro:if>
       <xacro:if value="${end_effector_tool == 'fork'}">
-          <xacro:forque_assembly_joint
-                joint_name="forque_to_forkHandle"
-                type="fixed"
-                parent="forkHandle"
-                child="forque"
-                joint_axis_xyz="0 0 1"
-                joint_origin_xyz="-0.00634 -0.222553 -0.004286"
-                joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"
-                fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="forque_to_forkHandle" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
       </xacro:if>
 
-	  	<xacro:forque_assembly_link
-            link_name="forkTine"
-            link_mesh="fork_tine"
-            mass="0.024"
-            cog="0.013090 0.0180789 0.0445231">
-	  		<inertia
-                ixx="0.0000098769"
-                iyy="0.000009848103"
-                iyz="0.00000057639"
-                izz="0.0000015674"
-                ixy="0.000000000806182"
-                ixz="-0.00000000296036"/>
+	  	<xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
+	  		<inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint
-            joint_name="forkTine_to_forque"
-            type="fixed"
-            parent="forque"
-            child="forkTine"
-            joint_axis_xyz="0 0 1"
-            joint_origin_xyz="-0.0054 0.008 0.093"
-            joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"
-            fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}" fixed="true"/>
 
-	  	<link name="forkTip" />
+	  	<link name="forkTip"/>
 	  	<joint name="forkTip_to_forkTine" type="fixed">
 		    <child link="forkTip"/>
 		    <parent link="forkTine"/>

From b0a0e672287a5a1625a9916528fb62437566c246 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 14:12:33 -0800
Subject: [PATCH 11/27] More formatting

---
 ada_description/urdf/ada.xacro           | 24 +++---------------------
 ada_description/urdf/forque/forque.xacro |  3 ++-
 2 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index a39657b..60ecba8 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -58,28 +58,10 @@
   </joint>
   -->
 
-  <xacro:forque_assembly_link
-      link_name="FTArmMount"
-      link_mesh="2024_01_18_FTArmMount"
-      mass="0.03783"
-      cog="0.010957 -0.019223 -0.03777">
-    <inertia
-        ixx="0.000018817"
-        iyy="0.00001119989"
-        iyz="-0.00000120296"
-        izz="0.000026883"
-        ixy="-0.0000003327"
-        ixz="-0.000000092476"/>
+  <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
+    <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
   </xacro:forque_assembly_link>
-  <xacro:forque_assembly_joint
-      joint_name="FTArmMount_to_arm"
-      type="fixed"
-      parent="j2n6s200_link_6"
-      child="FTArmMount"
-      joint_axis_xyz="0 0 1"
-      joint_origin_xyz="0.0065 -0.011 -0.0075"
-      joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"
-      fixed="true"/>
+  <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" fixed="true"/>
 
   <xacro:unless value="${cmp_end_effector_tool == 'none'}">
     <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${cmp_end_effector_tool}"/>
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 8a5db0c..1a55c3a 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -20,6 +20,7 @@
 		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
 	</xacro:property>
 
+
 	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
 		<link name="${link_name}">
 			<visual>
@@ -184,7 +185,7 @@
 	  	</xacro:forque_assembly_link>
 	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}" fixed="true"/>
 
-	  	<link name="forkTip"/>
+	  	<link name="forkTip" />
 	  	<joint name="forkTip_to_forkTine" type="fixed">
 		    <child link="forkTip"/>
 		    <parent link="forkTine"/>

From 1ef30d9677e96f10bbe13d29b7cc356440a2f77b Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Thu, 12 Dec 2024 14:16:06 -0800
Subject: [PATCH 12/27] Rename forkTine_to_forque to af_forque_joint

---
 ada_description/urdf/forque/forque.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 1a55c3a..826456f 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -177,7 +177,7 @@
           <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
       </xacro:if>
       <xacro:if value="${end_effector_tool == 'fork'}">
-          <xacro:forque_assembly_joint joint_name="forque_to_forkHandle" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
       </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">

From 5e961d8558def3cc775ec90e9a63e900c8402ecd Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Fri, 13 Dec 2024 21:28:38 -0800
Subject: [PATCH 13/27] Decouple ADAs description into a macro that is
 explicitly instantiated in ada_standalone.xacro

---
 ada_description/launch/view_ada.launch.py |   5 +-
 ada_description/urdf/ada.xacro            | 101 +++++++++++-----------
 ada_description/urdf/ada_standalone.xacro |  26 ++++++
 3 files changed, 78 insertions(+), 54 deletions(-)
 create mode 100644 ada_description/urdf/ada_standalone.xacro

diff --git a/ada_description/launch/view_ada.launch.py b/ada_description/launch/view_ada.launch.py
index 2ce5bd5..ef7c35d 100644
--- a/ada_description/launch/view_ada.launch.py
+++ b/ada_description/launch/view_ada.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="ada.xacro",
+            default_value="ada_standalone.xacro",
             description="URDF/XACRO description file with the robot.",
         )
     )
@@ -65,7 +65,8 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "end_effector_tool",
             default_value="none",
-            description="The end-effector tool being used: none, fork, articulable_fork",
+            description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
+            choices=['none', 'fork', 'articulable_fork']
         )
     )
 
diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 60ecba8..e056715 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -12,66 +12,63 @@
   xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
     xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
     xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
-  xmlns:xacro="http://www.ros.org/wiki/xacro" name="ada">
+  xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
-  <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
-  <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
+  <xacro:macro name="ada" params="base_parent end_effector_tool">
+    <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
+    <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
+    <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
 
-  <xacro:arg name="end_effector_tool" default="fork"/>
-  <xacro:property name="cmp_end_effector_tool" value="$(arg end_effector_tool)"/>
+    <link name="root_tilt"/>
+    <joint name="robot_tilt" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" /> 
+      <child link="root_tilt" />
+      <parent link="${base_parent}" />
+      <axis xyz="-1 0 0"/>
+      <!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
+      lower and upper limits generously encompass the range of the wheelchair's tilt-->
+      <limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
+      <dynamics damping="0.0" friction="0.0"/>
+    </joint> 
 
-  <link name="root"/>
-  
-  <link name="root_tilt"/>
-  <joint name="robot_tilt" type="revolute">
-    <origin xyz="0 0 0" rpy="0 0 0" /> 
-    <child link="root_tilt" />
-    <parent link="root" />
-    <axis xyz="-1 0 0"/>
-    <!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
-    lower and upper limits generously encompass the range of the wheelchair's tilt-->
-    <limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint> 
+    <xacro:property name="robot_root" value="root_tilt" />
 
-  <xacro:property name="robot_root" value="root_tilt" />
+    <xacro:j2n6s200 base_parent="${robot_root}"/>
 
-  <xacro:j2n6s200 base_parent="${robot_root}"/>
+    <xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
 
-  <xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
-
-  <!-- Hard-coded Extrinsics -->
-  <link name="camera_link" />
-  <joint name="extrinsics" type="fixed">
-    <origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
-    <parent link="cameraMount" />
-    <child link="camera_link" />
-  </joint>
-  <!-- Copy Realsense in case of simulation -->
-  <!--
-  <link name="camera_color_optical_frame" />
-  <joint name="optical_republish" type="fixed">
-    <origin xyz="0.000 -0.015 0.000" rpy="-1.564 0.000 -1.573" />
-    <parent link="camera_link" />
-    <child link="camera_color_optical_frame" />
-  </joint>
-  -->
+    <!-- Hard-coded Extrinsics -->
+    <link name="camera_link" />
+    <joint name="extrinsics" type="fixed">
+      <origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
+      <parent link="cameraMount" />
+      <child link="camera_link" />
+    </joint>
+    <!-- Copy Realsense in case of simulation -->
+    <!--
+    <link name="camera_color_optical_frame" />
+    <joint name="optical_republish" type="fixed">
+      <origin xyz="0.000 -0.015 0.000" rpy="-1.564 0.000 -1.573" />
+      <parent link="camera_link" />
+      <child link="camera_color_optical_frame" />
+    </joint>
+    -->
 
-  <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
-    <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
-  </xacro:forque_assembly_link>
-  <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" fixed="true"/>
+    <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
+      <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" fixed="true"/>
 
-  <xacro:unless value="${cmp_end_effector_tool == 'none'}">
-    <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${cmp_end_effector_tool}"/>
+    <xacro:unless value="${end_effector_tool == 'none'}">
+      <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${end_effector_tool}"/>
 
-    <link name="FTSensor" />
-    <joint name="EE_to_FTSensor" type="fixed">
-        <child link="FTSensor"/>
-        <parent link="j2n6s200_end_effector"/>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
-    </joint>
-  </xacro:unless>
+      <link name="FTSensor" />
+      <joint name="EE_to_FTSensor" type="fixed">
+          <child link="FTSensor"/>
+          <parent link="j2n6s200_end_effector"/>
+          <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
+      </joint>
+    </xacro:unless>
+  </xacro:macro>
 
 </robot>
diff --git a/ada_description/urdf/ada_standalone.xacro b/ada_description/urdf/ada_standalone.xacro
new file mode 100644
index 0000000..29b974d
--- /dev/null
+++ b/ada_description/urdf/ada_standalone.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<robot xmlns:xi="http://www.w3.org/2001/XInclude"
+  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+  xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+  xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+  xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+  xmlns:xacro="http://www.ros.org/wiki/xacro"
+  name="ada">
+
+  <xacro:arg name="end_effector_tool" default="fork" />
+
+  <xacro:include filename="$(find ada_description)/urdf/ada.xacro" /> 
+
+  <link name="root"/>
+  <xacro:property name="root" value="root" />
+  <xacro:property name="end_effector_tool" value="$(arg end_effector_tool)" />
+  <xacro:ada base_parent="${root}" end_effector_tool="${end_effector_tool}" />
+
+</robot>

From 9c4ac8cd275ed9268a35f7e13ec50f32c5d0282e Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Wed, 18 Dec 2024 08:51:49 -0800
Subject: [PATCH 14/27] Run pre-commit

---
 ada_description/launch/view_ada.launch.py | 4 ++--
 ada_description/urdf/ada.xacro            | 4 ++--
 ada_description/urdf/ada_standalone.xacro | 2 +-
 ada_description/urdf/forque/forque.xacro  | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ada_description/launch/view_ada.launch.py b/ada_description/launch/view_ada.launch.py
index 73bc7d0..c1bbd4a 100644
--- a/ada_description/launch/view_ada.launch.py
+++ b/ada_description/launch/view_ada.launch.py
@@ -69,7 +69,7 @@ def generate_launch_description():
             "end_effector_tool",
             default_value="none",
             description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
-            choices=['none', 'fork', 'articulable_fork']
+            choices=["none", "fork", "articulable_fork"],
         )
     )
 
@@ -88,7 +88,7 @@ def generate_launch_description():
             ),
             " ",
             "end_effector_tool:=",
-            end_effector_tool
+            end_effector_tool,
         ]
     )
     robot_description = {
diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index e056715..a0c2fc3 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -21,7 +21,7 @@
 
     <link name="root_tilt"/>
     <joint name="robot_tilt" type="revolute">
-      <origin xyz="0 0 0" rpy="0 0 0" /> 
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <child link="root_tilt" />
       <parent link="${base_parent}" />
       <axis xyz="-1 0 0"/>
@@ -29,7 +29,7 @@
       lower and upper limits generously encompass the range of the wheelchair's tilt-->
       <limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
       <dynamics damping="0.0" friction="0.0"/>
-    </joint> 
+    </joint>
 
     <xacro:property name="robot_root" value="root_tilt" />
 
diff --git a/ada_description/urdf/ada_standalone.xacro b/ada_description/urdf/ada_standalone.xacro
index 29b974d..1ef2a3a 100644
--- a/ada_description/urdf/ada_standalone.xacro
+++ b/ada_description/urdf/ada_standalone.xacro
@@ -16,7 +16,7 @@
 
   <xacro:arg name="end_effector_tool" default="fork" />
 
-  <xacro:include filename="$(find ada_description)/urdf/ada.xacro" /> 
+  <xacro:include filename="$(find ada_description)/urdf/ada.xacro" />
 
   <link name="root"/>
   <xacro:property name="root" value="root" />
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 6b6af7f..4aace89 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -103,7 +103,7 @@
                     <mechanicalReduction>160</mechanicalReduction>
                 </actuator>
             </transmission>
-             
+
             <!--For torque sensing in simulation-->
             <gazebo reference="${joint_name}">
                 <provideFeedback>true</provideFeedback>

From 0967dad6a7932dccfebd3c8867c4cacd70cb6990 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Wed, 18 Dec 2024 08:57:28 -0800
Subject: [PATCH 15/27] Remove actuator, transmission, and gazebo
 configurations

---
 ada_description/urdf/forque/forque.xacro | 29 ------------------------
 1 file changed, 29 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 4aace89..c5ca7e7 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -87,35 +87,6 @@
             <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
             <dynamics damping="0.0" friction="0.0"/>
         </joint>
-        <actuator name="${joint_name}_actuator">
-          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-          <mechanicalReduction>160</mechanicalReduction>
-        </actuator>
-
-        <xacro:unless value="${fixed}">
-            <transmission name="${joint_name}_trans">
-                <type>transmission_interface/SimpleTransmission</type>
-                <joint name="${joint_name}">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                </joint>
-                <actuator name="${joint_name}_actuator">
-                    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-                    <mechanicalReduction>160</mechanicalReduction>
-                </actuator>
-            </transmission>
-
-            <!--For torque sensing in simulation-->
-            <gazebo reference="${joint_name}">
-                <provideFeedback>true</provideFeedback>
-            </gazebo>
-            <gazebo>
-                <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
-                    <updateRate>30.0</updateRate>
-                    <topicName>${joint_name}_ft_sensor_topic</topicName>
-                    <jointName>${joint_name}</jointName>
-                </plugin>
-            </gazebo>
-        </xacro:unless>
 	</xacro:macro>
 
 	<xacro:macro name="forque_assembly" params="base_parent end_effector_tool use_antenna:=false">

From 703ff6945654410600ff1e8c437c1314db2dd991 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 20:07:03 -0800
Subject: [PATCH 16/27] Add comments explaining macro imports in ada.xacro

---
 ada_description/urdf/ada.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index a0c2fc3..21ec3f0 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -15,6 +15,7 @@
   xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="ada" params="base_parent end_effector_tool">
+    <!-- Import macros associated with forque, robot, and camera. Macros are added to the tree below -->
     <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
     <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
     <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>

From 8acecd54076244f0ec46c109b4196b5db889e195 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 20:14:35 -0800
Subject: [PATCH 17/27] Remove base_parent argument for ada macro, use root by
 default

---
 ada_description/urdf/ada.xacro            | 5 +++--
 ada_description/urdf/ada_standalone.xacro | 3 +--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 21ec3f0..31e8b5d 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -14,17 +14,18 @@
     xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
   xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="ada" params="base_parent end_effector_tool">
+  <xacro:macro name="ada" params="end_effector_tool">
     <!-- Import macros associated with forque, robot, and camera. Macros are added to the tree below -->
     <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
     <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
     <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
 
+    <link name="root"/>
     <link name="root_tilt"/>
     <joint name="robot_tilt" type="revolute">
       <origin xyz="0 0 0" rpy="0 0 0" />
       <child link="root_tilt" />
-      <parent link="${base_parent}" />
+      <parent link="root" />
       <axis xyz="-1 0 0"/>
       <!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
       lower and upper limits generously encompass the range of the wheelchair's tilt-->
diff --git a/ada_description/urdf/ada_standalone.xacro b/ada_description/urdf/ada_standalone.xacro
index 1ef2a3a..a5fc795 100644
--- a/ada_description/urdf/ada_standalone.xacro
+++ b/ada_description/urdf/ada_standalone.xacro
@@ -18,9 +18,8 @@
 
   <xacro:include filename="$(find ada_description)/urdf/ada.xacro" />
 
-  <link name="root"/>
   <xacro:property name="root" value="root" />
   <xacro:property name="end_effector_tool" value="$(arg end_effector_tool)" />
-  <xacro:ada base_parent="${root}" end_effector_tool="${end_effector_tool}" />
+  <xacro:ada end_effector_tool="${end_effector_tool}" />
 
 </robot>

From 9f2f8f7cb67ebf359599257698a5f45d40062067 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 20:25:08 -0800
Subject: [PATCH 18/27] Rename dummy_default_value to
 forque_assembly_dummy_default_value

---
 ada_description/urdf/forque/forque.xacro | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index c5ca7e7..0b33bbc 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -19,6 +19,7 @@
 	<xacro:property name="default_inertial">
 		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
 	</xacro:property>
+  <xacro:property name="forque_assembly_dummy_default_value" value="1234567890"/>
 
 
 	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
@@ -48,24 +49,24 @@
 		</link>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${dummy_default_value} joint_upper_limit:=${dummy_default_value} joint_velocity_limit:=${dummy_default_value} joint_torque_limit:=${dummy_default_value} fixed:=false">
+	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${forque_assembly_dummy_default_value} joint_upper_limit:=${forque_assembly_dummy_default_value} joint_velocity_limit:=${forque_assembly_dummy_default_value} joint_torque_limit:=${forque_assembly_dummy_default_value} fixed:=false">
 
         <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
             <xacro:ERROR_inconsistent_joint_type_specification/>
         </xacro:if>
         <xacro:if value="${type == 'revolute'}">
-            <xacro:if value="${joint_lower_limit == dummy_default_value}">
+            <xacro:if value="${joint_lower_limit == forque_assembly_dummy_default_value}">
                 <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
             </xacro:if>
-            <xacro:if value="${joint_upper_limit == dummy_default_value}">
+            <xacro:if value="${joint_upper_limit == forque_assembly_dummy_default_value}">
                 <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
             </xacro:if>
         </xacro:if>
         <xacro:unless value="${type =='fixed'}">
-            <xacro:if value="${joint_velocity_limit == dummy_default_value}">
+            <xacro:if value="${joint_velocity_limit == forque_assembly_dummy_default_value}">
                 <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
             </xacro:if>
-            <xacro:if value="${joint_torque_limit == dummy_default_value}">
+            <xacro:if value="${joint_torque_limit == forque_assembly_dummy_default_value}">
                 <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
             </xacro:if>
         </xacro:unless>

From 6b6e5ba9144aa28db04ec31d555978f028b52aad Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 20:44:41 -0800
Subject: [PATCH 19/27] Fix indentation

---
 ada_description/urdf/forque/forque.xacro | 74 ++++++++++++------------
 1 file changed, 37 insertions(+), 37 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 0b33bbc..d561625 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -51,43 +51,43 @@
 
 	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${forque_assembly_dummy_default_value} joint_upper_limit:=${forque_assembly_dummy_default_value} joint_velocity_limit:=${forque_assembly_dummy_default_value} joint_torque_limit:=${forque_assembly_dummy_default_value} fixed:=false">
 
-        <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
-            <xacro:ERROR_inconsistent_joint_type_specification/>
-        </xacro:if>
-        <xacro:if value="${type == 'revolute'}">
-            <xacro:if value="${joint_lower_limit == forque_assembly_dummy_default_value}">
-                <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
-            </xacro:if>
-            <xacro:if value="${joint_upper_limit == forque_assembly_dummy_default_value}">
-                <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
-            </xacro:if>
-        </xacro:if>
-        <xacro:unless value="${type =='fixed'}">
-            <xacro:if value="${joint_velocity_limit == forque_assembly_dummy_default_value}">
-                <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
-            </xacro:if>
-            <xacro:if value="${joint_torque_limit == forque_assembly_dummy_default_value}">
-                <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
-            </xacro:if>
-        </xacro:unless>
-
-        <joint name="${joint_name}" type="${type}">
-            <parent link="${parent}"/>
-            <child link="${child}"/>
-            <axis xyz="${joint_axis_xyz}"/>
-            <xacro:if value="${type == 'revolute'}">
-                <limit
-                    effort="${joint_torque_limit}"
-                    velocity="${joint_velocity_limit}"
-                    lower="${joint_lower_limit}"
-                    upper="${joint_upper_limit}"/>
-            </xacro:if>
-            <xacro:if value="${type == 'continuous'}">
-                <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
-            </xacro:if>
-            <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
-            <dynamics damping="0.0" friction="0.0"/>
-        </joint>
+    <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
+      <xacro:ERROR_inconsistent_joint_type_specification/>
+    </xacro:if>
+    <xacro:if value="${type == 'revolute'}">
+      <xacro:if value="${joint_lower_limit == forque_assembly_dummy_default_value}">
+        <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
+      </xacro:if>
+      <xacro:if value="${joint_upper_limit == forque_assembly_dummy_default_value}">
+        <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
+      </xacro:if>
+    </xacro:if>
+    <xacro:unless value="${type =='fixed'}">
+      <xacro:if value="${joint_velocity_limit == forque_assembly_dummy_default_value}">
+        <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
+      </xacro:if>
+      <xacro:if value="${joint_torque_limit == forque_assembly_dummy_default_value}">
+        <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
+      </xacro:if>
+    </xacro:unless>
+
+    <joint name="${joint_name}" type="${type}">
+      <parent link="${parent}"/>
+      <child link="${child}"/>
+      <axis xyz="${joint_axis_xyz}"/>
+      <xacro:if value="${type == 'revolute'}">
+        <limit
+          effort="${joint_torque_limit}"
+          velocity="${joint_velocity_limit}"
+          lower="${joint_lower_limit}"
+          upper="${joint_upper_limit}"/>
+      </xacro:if>
+      <xacro:if value="${type == 'continuous'}">
+        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
+      </xacro:if>
+      <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
+      <dynamics damping="0.0" friction="0.0"/>
+    </joint>
 	</xacro:macro>
 
 	<xacro:macro name="forque_assembly" params="base_parent end_effector_tool use_antenna:=false">

From be387a505bc534cd2fbe1ccd85c9a9e11992d0c5 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 21:06:39 -0800
Subject: [PATCH 20/27] Revert change to FTMount joint_origin_xyz

---
 ada_description/urdf/forque/forque.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index d561625..8394e81 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -114,7 +114,7 @@
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
 		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 -0.0065" fixed="true"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065" fixed="true"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>

From a5b43c5e3681fd7924b7a798ca2f43dc7302d8c9 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 21:23:50 -0800
Subject: [PATCH 21/27] Remove broken error messages, remove fixed parameter
 for forque_assembly_joint

---
 ada_description/urdf/ada.xacro           |  2 +-
 ada_description/urdf/forque/forque.xacro | 48 +++++++-----------------
 2 files changed, 15 insertions(+), 35 deletions(-)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 31e8b5d..c79e4e7 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -59,7 +59,7 @@
     <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
       <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
     </xacro:forque_assembly_link>
-    <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" fixed="true"/>
+    <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
 
     <xacro:unless value="${end_effector_tool == 'none'}">
       <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${end_effector_tool}"/>
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 8394e81..dd7d772 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -49,27 +49,7 @@
 		</link>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${forque_assembly_dummy_default_value} joint_upper_limit:=${forque_assembly_dummy_default_value} joint_velocity_limit:=${forque_assembly_dummy_default_value} joint_torque_limit:=${forque_assembly_dummy_default_value} fixed:=false">
-
-    <xacro:if value="${(type == 'fixed' and not fixed) or (type != 'fixed' and fixed)}">
-      <xacro:ERROR_inconsistent_joint_type_specification/>
-    </xacro:if>
-    <xacro:if value="${type == 'revolute'}">
-      <xacro:if value="${joint_lower_limit == forque_assembly_dummy_default_value}">
-        <xacro:ERROR_joint_lower_limit_needs_to_be_set_for_a_revolute_joint/>
-      </xacro:if>
-      <xacro:if value="${joint_upper_limit == forque_assembly_dummy_default_value}">
-        <xacro:ERROR_joint_upper_limit_needs_to_be_set_for_a_revolute_joint/>
-      </xacro:if>
-    </xacro:if>
-    <xacro:unless value="${type =='fixed'}">
-      <xacro:if value="${joint_velocity_limit == forque_assembly_dummy_default_value}">
-        <xacro:ERROR_joint_velocity_limit_needs_to_be_set_for_a_non_fixed_joint/>
-      </xacro:if>
-      <xacro:if value="${joint_torque_limit == forque_assembly_dummy_default_value}">
-        <xacro:ERROR_joint_torque_limit_needs_to_be_set_for_a_non_fixed_joint/>
-      </xacro:if>
-    </xacro:unless>
+	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${forque_assembly_dummy_default_value} joint_upper_limit:=${forque_assembly_dummy_default_value} joint_velocity_limit:=${forque_assembly_dummy_default_value} joint_torque_limit:=${forque_assembly_dummy_default_value}">
 
     <joint name="${joint_name}" type="${type}">
       <parent link="${parent}"/>
@@ -95,72 +75,72 @@
 		<xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
 			<inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
         </xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0" fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0"/>
 
 	  	<xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
 	  		<inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
 
 
 	  	<xacro:if value="${use_antenna}">
             <xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
                 <xacro:insert_block name="default_inertial"/>
             </xacro:forque_assembly_link>
-    	  	<xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
+    	  	<xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
 		</xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2024_06_24_forkHandleHollow" mass="0.028" cog="0.011097 -0.162629 -0.011948">
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
 		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065" fixed="true"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint joint_name="forkHandleCover_to_forkHandle" type="fixed" parent="forkHandle" child="forkHandleCover" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0" fixed="true"/>
+		<xacro:forque_assembly_joint joint_name="forkHandleCover_to_forkHandle" type="fixed" parent="forkHandle" child="forkHandleCover" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
       <xacro:if value="${end_effector_tool == 'articulable_fork'}">
           <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0"/>
 
           <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
               <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
 
           <xacro:forque_assembly_link link_name="af_motor_fixture_link" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0"/>
 
           <xacro:forque_assembly_link link_name="af_link_2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
               <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0"/>
 
           <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4" fixed="false"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
       </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
 	  		<inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
       <xacro:if value="${end_effector_tool == 'articulable_fork'}">
-          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
       </xacro:if>
       <xacro:if value="${end_effector_tool == 'fork'}">
-          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0" fixed="true"/>
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
       </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
 	  		<inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}" fixed="true"/>
+	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"/>
 
 	  	<link name="forkTip" />
 	  	<joint name="forkTip_to_forkTine" type="fixed">

From 4d3c85ce38c1f6fb96ccc299ce76c4847db1220c Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Tue, 28 Jan 2025 21:29:06 -0800
Subject: [PATCH 22/27] Add comment for ada macro

---
 ada_description/urdf/ada.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index c79e4e7..c256441 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -14,6 +14,7 @@
     xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
   xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <!-- Robot name must be defined in the Xacro file that instantiates the ada macro -->
   <xacro:macro name="ada" params="end_effector_tool">
     <!-- Import macros associated with forque, robot, and camera. Macros are added to the tree below -->
     <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>

From 753d5c7440ee482b6a71234a8b624e0833c6b622 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 3 Feb 2025 10:24:14 -0800
Subject: [PATCH 23/27] Fix axis of rotation for af_joint_2

---
 ada_description/urdf/forque/forque.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index dd7d772..32e1f97 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -124,7 +124,7 @@
           <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 -1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
       </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">

From 95f65318ecdbeaf32434b2ea713cdcadc24ad487 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 3 Feb 2025 10:45:58 -0800
Subject: [PATCH 24/27] Adjust af_joint_base joint_origin_xyz

---
 ada_description/urdf/forque/forque.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 32e1f97..7e22736 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -104,7 +104,7 @@
           <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.278553 -0.011" joint_origin_rpy="0 0 0"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.2826805 -0.011" joint_origin_rpy="0 0 0"/>
 
           <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
               <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>

From 6d397285e56b72c6a5c2106f700cd3e9b5297d78 Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 3 Feb 2025 11:17:19 -0800
Subject: [PATCH 25/27] Remove slight rotation of forkHandle_to_FTMount joint
 since updated forkHandle is reliably straight, adjust joint_origin_xyz for
 forkHandle_to_FTMount

---
 ada_description/urdf/forque/forque.xacro | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 7e22736..7e97128 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -93,8 +93,7 @@
 	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2024_06_24_forkHandleHollow" mass="0.028" cog="0.011097 -0.162629 -0.011948">
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
-		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.00526875" joint_origin_rpy="0 0 0"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>

From f4aed2262d4b0e48831b9255dfaf645273cf280a Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 3 Feb 2025 11:36:32 -0800
Subject: [PATCH 26/27] Adjust af_joint_base joint_origin_xyz

---
 ada_description/urdf/forque/forque.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 7e97128..2058b2b 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -103,7 +103,7 @@
           <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
               <xacro:insert_block name="default_inertial"/>
           </xacro:forque_assembly_link>
-          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.2826805 -0.011" joint_origin_rpy="0 0 0"/>
+          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.2826805 -0.0091" joint_origin_rpy="0 0 0"/>
 
           <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
               <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>

From 91e15b119d0139ca34ff26bd0dc6067a08bb19ee Mon Sep 17 00:00:00 2001
From: Jose Jaime <jose33jaime@gmail.com>
Date: Mon, 17 Feb 2025 16:53:41 -0800
Subject: [PATCH 27/27] Revert "Remove slight rotation of forkHandle_to_FTMount
 joint since updated forkHandle is reliably straight, adjust joint_origin_xyz
 for forkHandle_to_FTMount"

This reverts commit 6d397285e56b72c6a5c2106f700cd3e9b5297d78.
---
 ada_description/urdf/forque/forque.xacro | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index 2058b2b..e5fc36d 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -93,7 +93,8 @@
 	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2024_06_24_forkHandleHollow" mass="0.028" cog="0.011097 -0.162629 -0.011948">
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.00526875" joint_origin_rpy="0 0 0"/>
+		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>