diff --git a/.gitignore b/.gitignore
index 142b044..54788c2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,7 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# *.urdf
+# Ignore generated URDFs at package root (launch builds on the fly)
+*.urdf
+!assets/**/*.urdf
+!assets/**/*.urdf.xacro
 **/build/*
 /backup
 **/base_urdf_ws
@@ -37,4 +40,7 @@ __pycache__
 /urdf/
 
 docs/
-scripts/
\ No newline at end of file
+scripts/
+# Accidental gen scratch files (never ship)
+/openarmv2.urdf
+/output.urdf
diff --git a/openarmv2.urdf b/openarmv2.urdf
deleted file mode 100644
index e69de29..0000000
diff --git a/output.urdf b/output.urdf
deleted file mode 100644
index 5c13106..0000000
--- a/output.urdf
+++ /dev/null
@@ -1,871 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="openarm_v20">
-  <link name="world"/>
-  <link name="openarm_body_link0">
-    <visual name="openarm_body_link0_visual">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="openarm_body_link0_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_body_link0_collision">
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="13.89"/>
-      <inertia ixx="1.653" ixy="0.0" ixz="0.0" iyy="1.653" iyz="0.0" izz="0.051"/>
-    </inertial>
-  </link>
-  <joint name="openarm_body_link0_mount_joint" type="fixed">
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
-    <parent link="world"/>
-    <child link="openarm_body_link0"/>
-  </joint>
-  <link name="openarm_left_base_link">
-    <visual name="openarm_left_base_link_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_base_link_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_base_link_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.00253123748061566 0.0258185540330169 2.70658291858903e-05"/>
-      <mass value="0.487784887988258"/>
-      <inertia ixx="0.000484733990709424" ixy="-1.62770678780767e-07" ixz="4.65761719998324e-09" iyy="0.000682400572197824" iyz="-1.17426513474366e-08" izz="0.000320236101430026"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_base_link_mount_joint" type="fixed">
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.031 0.698"/>
-    <parent link="openarm_body_link0"/>
-    <child link="openarm_left_base_link"/>
-  </joint>
-  <link name="openarm_left_link1">
-    <visual name="openarm_left_link1_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_link1_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link1_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link1.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.000900350355624244 0.0444659716892874 2.88441021165683e-05"/>
-      <mass value="0.561428544234246"/>
-      <inertia ixx="0.000538144986433873" ixy="-4.63056685765756e-06" ixz="2.22975551768159e-08" iyy="0.000373345162254971" iyz="-3.27884751984609e-08" izz="0.000329804343882795"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0.0625 0"/>
-    <parent link="openarm_left_base_link"/>
-    <child link="openarm_left_link1"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="40" lower="-3.4907" upper="1.3963" velocity="16.755"/>
-  </joint>
-  <link name="openarm_left_link2">
-    <visual name="openarm_left_link2_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_link2_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link2_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link2.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.0247184924346635 -7.60578399428002e-08 -0.0312643102292087"/>
-      <mass value="0.295592749115978"/>
-      <inertia ixx="0.000163597219145931" ixy="3.13608197607031e-10" ixz="5.55009912371659e-06" iyy="0.000120429707158439" iyz="-4.00306455289745e-10" izz="8.76628866864578e-05"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0.0600000000000001 0"/>
-    <parent link="openarm_left_link1"/>
-    <child link="openarm_left_link2"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="40" lower="-3.3161" upper="0.17453" velocity="16.755"/>
-  </joint>
-  <link name="openarm_left_link3">
-    <visual name="openarm_left_link3_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_left_link3_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link3_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434"/>
-      <mass value="0.850916861288263"/>
-      <inertia ixx="0.0010217027340552" ixy="-1.82210543854634e-07" ixz="-5.35782873075177e-05" iyy="0.000903473277290975" iyz="-8.4199828452717e-06" izz="0.000443551676668759"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.0662500000000008"/>
-    <parent link="openarm_left_link2"/>
-    <child link="openarm_left_link3"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="27" lower="-1.5708" upper="1.5708" velocity="5.4454"/>
-  </joint>
-  <link name="openarm_left_link4">
-    <visual name="openarm_left_link4_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_left_link4_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link4_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351"/>
-      <mass value="0.590845933035621"/>
-      <inertia ixx="0.000436492657493736" ixy="5.2455675270269e-06" ixz="-1.65547634348731e-06" iyy="0.00040384685548561" iyz="3.18067426068364e-06" izz="0.000228213573513934"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint4" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.15375"/>
-    <parent link="openarm_left_link3"/>
-    <child link="openarm_left_link4"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="27" lower="0" upper="2.4435" velocity="5.4454"/>
-  </joint>
-  <link name="openarm_left_link5">
-    <visual name="openarm_left_link5_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_link5_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link5_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link5.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000737188580130584 0.000412406544351845 -0.047093829077211"/>
-      <mass value="0.5803968030561"/>
-      <inertia ixx="0.000263636157719515" ixy="-3.12744502166655e-06" ixz="7.24104361181618e-07" iyy="0.000315435352726595" iyz="1.41346881493762e-07" izz="0.00016654408109665"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint5" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.0955000000000005"/>
-    <parent link="openarm_left_link4"/>
-    <child link="openarm_left_link5"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
-  </joint>
-  <link name="openarm_left_link6">
-    <visual name="openarm_left_link6_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link6.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_link6_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_link6_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link6.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="2.27438423593244e-05 -0.00068649602098908 5.44000494765995e-05"/>
-      <mass value="0.368168327082267"/>
-      <inertia ixx="0.000138895913855529" ixy="-5.10132782134004e-08" ixz="-2.61172660933272e-08" iyy="0.000105559187933453" iyz="-2.57416957748855e-08" izz="0.000104856622100784"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_joint6" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.120499999999998"/>
-    <parent link="openarm_left_link5"/>
-    <child link="openarm_left_link6"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
-  </joint>
-  <joint name="openarm_left_joint7" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="openarm_left_link6"/>
-    <child link="openarm_left_ee_base_link"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
-  </joint>
-  <!-- The base link is emitted inline because its naming and frame-shift behavior differ from the finger links. -->
-  <link name="openarm_left_ee_base_link">
-    <visual name="openarm_left_ee_base_link_visual">
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 -0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_ee_base_link_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_ee_base_link_collision">
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 -0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0137902 -0.0084073 -0.05938"/>
-      <mass value="0.52832"/>
-      <inertia ixx="0.00021911" ixy="-4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="1.5124e-06" izz="0.0001659"/>
-    </inertial>
-  </link>
-  <link name="openarm_left_ee_link1">
-    <visual name="openarm_left_ee_link1_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_ee_link1_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_ee_link1_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.0124990911725494 -0.00176592789915655 -0.0241663193888537"/>
-      <mass value="0.125979047366671"/>
-      <inertia ixx="3.61105363396623e-05" ixy="-1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="3.60343788693423e-06" izz="1.74958961632907e-05"/>
-    </inertial>
-  </link>
-  <link name="openarm_left_ee_link2">
-    <visual name="openarm_left_ee_link2_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" scale="1 -1 1"/>
-      </geometry>
-      <material name="openarm_left_ee_link2_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_left_ee_link2_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" scale="1 -1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.012796 0.0020183 -0.026792"/>
-      <mass value="0.11372"/>
-      <inertia ixx="3.4565e-05" ixy="1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="-3.7172e-06" izz="1.6571e-05"/>
-    </inertial>
-  </link>
-  <joint name="openarm_left_finger_joint1" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 -0.0180000000000009 -0.0680000000000174"/>
-    <parent link="openarm_left_ee_base_link"/>
-    <child link="openarm_left_ee_link1"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="7" lower="-1.5708" upper="0" velocity="5"/>
-  </joint>
-  <joint name="openarm_left_finger_joint2" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 0.0180000000000012 -0.0680000000000215"/>
-    <parent link="openarm_left_ee_base_link"/>
-    <child link="openarm_left_ee_link2"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="7" lower="0" upper="1.5708" velocity="5"/>
-    <mimic joint="openarm_left_finger_joint1" multiplier="-1" offset="0"/>
-  </joint>
-  <link name="openarm_right_base_link">
-    <visual name="openarm_right_base_link_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_base_link_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_base_link_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.00253123748061566 -0.0258185540330169 2.70658291858903e-05"/>
-      <mass value="0.487784887988258"/>
-      <inertia ixx="0.000484733990709424" ixy="1.62770678780767e-07" ixz="4.65761719998324e-09" iyy="0.000682400572197824" iyz="1.17426513474366e-08" izz="0.000320236101430026"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_base_link_mount_joint" type="fixed">
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.031 0.698"/>
-    <parent link="openarm_body_link0"/>
-    <child link="openarm_right_base_link"/>
-  </joint>
-  <link name="openarm_right_link1">
-    <visual name="openarm_right_link1_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link1_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link1_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link1.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.000900350355624244 -0.0444659716892874 2.88441021165683e-05"/>
-      <mass value="0.561428544234246"/>
-      <inertia ixx="0.000538144986433873" ixy="4.63056685765756e-06" ixz="2.22975551768159e-08" iyy="0.000373345162254971" iyz="3.27884751984609e-08" izz="0.000329804343882795"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.0625 0"/>
-    <parent link="openarm_right_base_link"/>
-    <child link="openarm_right_link1"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="40" lower="-1.3963" upper="3.4907" velocity="16.755"/>
-  </joint>
-  <link name="openarm_right_link2">
-    <visual name="openarm_right_link2_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link2_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link2_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link2.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.0247184924346635 7.60578399428002e-08 -0.0312643102292087"/>
-      <mass value="0.295592749115978"/>
-      <inertia ixx="0.000163597219145931" ixy="-3.13608197607031e-10" ixz="5.55009912371659e-06" iyy="0.000120429707158439" iyz="4.00306455289745e-10" izz="8.76628866864578e-05"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint2" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.0600000000000001 0"/>
-    <parent link="openarm_right_link1"/>
-    <child link="openarm_right_link2"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="40" lower="-0.17453" upper="3.3161" velocity="16.755"/>
-  </joint>
-  <link name="openarm_right_link3">
-    <visual name="openarm_right_link3_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link3_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link3_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434"/>
-      <mass value="0.850916861288263"/>
-      <inertia ixx="0.0010217027340552" ixy="-1.82210543854634e-07" ixz="-5.35782873075177e-05" iyy="0.000903473277290975" iyz="-8.4199828452717e-06" izz="0.000443551676668759"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.0662500000000008"/>
-    <parent link="openarm_right_link2"/>
-    <child link="openarm_right_link3"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="27" lower="-1.5708" upper="1.5708" velocity="5.4454"/>
-  </joint>
-  <link name="openarm_right_link4">
-    <visual name="openarm_right_link4_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link4_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link4_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351"/>
-      <mass value="0.590845933035621"/>
-      <inertia ixx="0.000436492657493736" ixy="5.2455675270269e-06" ixz="-1.65547634348731e-06" iyy="0.00040384685548561" iyz="3.18067426068364e-06" izz="0.000228213573513934"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint4" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.15375"/>
-    <parent link="openarm_right_link3"/>
-    <child link="openarm_right_link4"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="27" lower="0" upper="2.4435" velocity="5.4454"/>
-  </joint>
-  <link name="openarm_right_link5">
-    <visual name="openarm_right_link5_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link5_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link5_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link5.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.000737188580130584 -0.000412406544351845 -0.047093829077211"/>
-      <mass value="0.5803968030561"/>
-      <inertia ixx="0.000263636157719515" ixy="3.12744502166655e-06" ixz="7.24104361181618e-07" iyy="0.000315435352726595" iyz="-1.41346881493762e-07" izz="0.00016654408109665"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint5" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.0955000000000005"/>
-    <parent link="openarm_right_link4"/>
-    <child link="openarm_right_link5"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="7" lower="-1.5708" upper="1.5708" velocity="20.944"/>
-  </joint>
-  <link name="openarm_right_link6">
-    <visual name="openarm_right_link6_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link6.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_link6_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_link6_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link6.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05"/>
-      <mass value="0.368168327082267"/>
-      <inertia ixx="0.000138895913855529" ixy="5.10132782134004e-08" ixz="-2.61172660933272e-08" iyy="0.000105559187933453" iyz="2.57416957748855e-08" izz="0.000104856622100784"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_joint6" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 -0.120499999999998"/>
-    <parent link="openarm_right_link5"/>
-    <child link="openarm_right_link6"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
-  </joint>
-  <joint name="openarm_right_joint7" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="openarm_right_link6"/>
-    <child link="openarm_right_ee_base_link"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="7" lower="-0.7854" upper="0.7854" velocity="20.944"/>
-  </joint>
-  <!-- The base link is emitted inline because its naming and frame-shift behavior differ from the finger links. -->
-  <link name="openarm_right_ee_base_link">
-    <visual name="openarm_right_ee_base_link_visual">
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_ee_base_link_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_ee_base_link_collision">
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0205 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0.0 -0.0 0.0" xyz="0.0137902 0.0084073 -0.05938"/>
-      <mass value="0.52832"/>
-      <inertia ixx="0.00021911" ixy="4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="-1.5124e-06" izz="0.0001659"/>
-    </inertial>
-  </link>
-  <link name="openarm_right_ee_link1">
-    <visual name="openarm_right_ee_link1_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_ee_link1_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_ee_link1_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.0124990911725494 0.00176592789915655 -0.0241663193888537"/>
-      <mass value="0.125979047366671"/>
-      <inertia ixx="3.61105363396623e-05" ixy="1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="-3.60343788693423e-06" izz="1.74958961632907e-05"/>
-    </inertial>
-  </link>
-  <link name="openarm_right_ee_link2">
-    <visual name="openarm_right_ee_link2_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" scale="1 1 1"/>
-      </geometry>
-      <material name="openarm_right_ee_link2_material">
-        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-      </material>
-    </visual>
-    <collision name="openarm_right_ee_link2_collision">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" scale="1 1 1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.012796 -0.0020183 -0.026792"/>
-      <mass value="0.11372"/>
-      <inertia ixx="3.4565e-05" ixy="-1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="3.7172e-06" izz="1.6571e-05"/>
-    </inertial>
-  </link>
-  <joint name="openarm_right_finger_joint1" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174"/>
-    <parent link="openarm_right_ee_base_link"/>
-    <child link="openarm_right_ee_link1"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="7" lower="-1.5708" upper="0" velocity="5"/>
-  </joint>
-  <joint name="openarm_right_finger_joint2" type="revolute">
-    <origin rpy="0.0 -0.0 0.0" xyz="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215"/>
-    <parent link="openarm_right_ee_base_link"/>
-    <child link="openarm_right_ee_link2"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="7" lower="0" upper="1.5708" velocity="5"/>
-    <mimic joint="openarm_right_finger_joint1" multiplier="-1" offset="0"/>
-  </joint>
-  <ros2_control name="openarm_left_hardware_interface" type="system">
-    <hardware>
-      <param name="arm_type">v20</param>
-      <plugin>mock_components/GenericSystem</plugin>
-      <param name="fake_sensor_commands">False</param>
-      <param name="state_following_offset">0.0</param>
-    </hardware>
-    <joint name="openarm_left_joint1">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint2">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint3">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint4">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint5">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint6">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_joint7">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_finger_joint1">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_left_finger_joint2">
-      <param name="mimic">openarm_left_finger_joint1</param>
-      <param name="multiplier">-1.0</param>
-      <command_interface name="position"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-  </ros2_control>
-  <ros2_control name="openarm_right_hardware_interface" type="system">
-    <hardware>
-      <param name="arm_type">v20</param>
-      <plugin>mock_components/GenericSystem</plugin>
-      <param name="fake_sensor_commands">False</param>
-      <param name="state_following_offset">0.0</param>
-    </hardware>
-    <joint name="openarm_right_joint1">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint2">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint3">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint4">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint5">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint6">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_joint7">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_finger_joint1">
-      <command_interface name="position"/>
-      <command_interface name="velocity"/>
-      <command_interface name="effort"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="velocity">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-      <state_interface name="effort">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-    <joint name="openarm_right_finger_joint2">
-      <param name="mimic">openarm_right_finger_joint1</param>
-      <param name="multiplier">-1.0</param>
-      <command_interface name="position"/>
-      <state_interface name="position">
-        <param name="initial_value">0.0</param>
-      </state_interface>
-    </joint>
-  </ros2_control>
-</robot>