From b0c320364343c777d7eac8a650200098cbb26403 Mon Sep 17 00:00:00 2001
From: "oguzhan.bozoglu" <oguzhan.bozoglu@b-robotized.com>
Date: Wed, 3 Jun 2026 17:15:29 +0200
Subject: [PATCH 1/4] feat - integrate hand mesh and fix calibration

---
 .../parallel_link/config/kinematics.yaml      |  2 +-
 .../parallel_link/config/kinematics_link.yaml | 13 ++++++++--
 .../openarm_parallel_gripper.xacro            | 24 ++++++++++++++++++-
 3 files changed, 35 insertions(+), 4 deletions(-)

diff --git a/assets/end_effector/parallel_link/config/kinematics.yaml b/assets/end_effector/parallel_link/config/kinematics.yaml
index 39a6009..ed7f816 100644
--- a/assets/end_effector/parallel_link/config/kinematics.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics.yaml
@@ -15,7 +15,7 @@
 finger_joint:
   kinematic:
     x: 0.0
-    y: 0.0
+    y: -0.005
     z: 0.1025
     roll: 0
     pitch: 0
diff --git a/assets/end_effector/parallel_link/config/kinematics_link.yaml b/assets/end_effector/parallel_link/config/kinematics_link.yaml
index ca2f6ed..36470a3 100644
--- a/assets/end_effector/parallel_link/config/kinematics_link.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics_link.yaml
@@ -12,11 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+hand:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: -0.661001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
 left_finger:
   kinematic:
     x: 0.0
     y: -0.05
-    z: -0.673001
+    z: -0.661001
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
@@ -25,7 +34,7 @@ right_finger:
   kinematic:
     x: 0.0
     y: 0.05
-    z: -0.673001
+    z: -0.661001
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index 0d8e7c3..42dda19 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -14,7 +14,7 @@ limitations under the License.
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_gripper">
 
-  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
+  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.1801' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
 
     <xacro:property name="ee_prefix" default=""/>
 
@@ -22,6 +22,28 @@ limitations under the License.
       <xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
     </xacro:unless>
 
+    <link name="${ee_prefix}hand">
+      <visual name="${ee_prefix}hand_visual">
+        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
+        <geometry>
+          <mesh filename="package://${description_pkg}/assets/end_effector/parallel_link/meshes/visual/hand.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+      <collision name="${ee_prefix}hand_collision">
+        <xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="hand" />
+        <geometry>
+          <mesh filename="package://${description_pkg}/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${ee_prefix}hand_joint" type="fixed">
+      <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
+      <origin xyz="0 0 ${fj.z}" rpy="0 0 0" />
+      <parent link="${connected_to}" />
+      <child link="${ee_prefix}hand" />
+    </joint>
+
     <link name="${ee_prefix}hand_tcp" />
 
     <joint name="${ee_prefix}hand_tcp_joint" type="fixed">

From f2fe1a6316055417c9b8a4ff7af5963fbb3c17ed Mon Sep 17 00:00:00 2001
From: "oguzhan.bozoglu" <oguzhan.bozoglu@b-robotized.com>
Date: Fri, 5 Jun 2026 10:16:36 +0200
Subject: [PATCH 2/4] Add kinematics parameters and inertial for the hand

---
 .../parallel_link/config/inertials.yaml         | 17 +++++++++++++++++
 .../parallel_link/config/kinematics.yaml        |  9 +++++++++
 .../openarm_parallel_gripper.xacro              |  4 ++--
 3 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/assets/end_effector/parallel_link/config/inertials.yaml b/assets/end_effector/parallel_link/config/inertials.yaml
index c2dd0cb..52a8502 100644
--- a/assets/end_effector/parallel_link/config/inertials.yaml
+++ b/assets/end_effector/parallel_link/config/inertials.yaml
@@ -12,6 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+hand:
+  origin:
+    x: 0.000001
+    y: 0.0
+    z: -0.000549
+    roll: 0
+    pitch: 0
+    yaw: 0
+  mass: 0.127
+  inertia:
+    xx: 1.65558e-04
+    yy: 1.74660e-05
+    zz: 1.73524e-04
+    xy: 0.0
+    xz: 0.0
+    yz: 0.0
+
 left_finger:
   origin:
     x: 0.0064528
diff --git a/assets/end_effector/parallel_link/config/kinematics.yaml b/assets/end_effector/parallel_link/config/kinematics.yaml
index ed7f816..d1a7741 100644
--- a/assets/end_effector/parallel_link/config/kinematics.yaml
+++ b/assets/end_effector/parallel_link/config/kinematics.yaml
@@ -12,6 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+hand:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.1025
+    roll: 0
+    pitch: 0
+    yaw: 0
+
 finger_joint:
   kinematic:
     x: 0.0
diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index 42dda19..5c70f72 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -35,11 +35,11 @@ limitations under the License.
           <mesh filename="package://${description_pkg}/assets/end_effector/parallel_link/meshes/collision/hand.stl" scale="0.001 0.001 0.001" />
         </geometry>
       </collision>
+      <xacro:ee-inertials name="hand"/>
     </link>
 
     <joint name="${ee_prefix}hand_joint" type="fixed">
-      <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
-      <origin xyz="0 0 ${fj.z}" rpy="0 0 0" />
+      <xacro:openarm-ee-kinematics config="${ee_kinematics}" name="hand" />
       <parent link="${connected_to}" />
       <child link="${ee_prefix}hand" />
     </joint>

From d83b4550f3c7a3a1af3358b0f487e513047e983b Mon Sep 17 00:00:00 2001
From: "oguzhan.bozoglu" <oguzhan.bozoglu@b-robotized.com>
Date: Fri, 5 Jun 2026 10:41:04 +0200
Subject: [PATCH 3/4] Calibrated to place hand_tcp at the fingertip centre

---
 .../urdf/ee/parallel_link/openarm_parallel_gripper.xacro   | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index 5c70f72..c496d9c 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -14,7 +14,12 @@ limitations under the License.
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_gripper">
 
-  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.1801' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
+  <!--
+    tcp_xyz default: 0 0 0.186 m along +Z of connected_to (link7).
+    Calibrated to place hand_tcp at the fingertip centre.
+    Units: metres. Override explicitly when mounting at a different offset.
+  -->
+  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.186' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
 
     <xacro:property name="ee_prefix" default=""/>
 

From be551ac7e9b81f075a8b4b7e13e036f1160883bf Mon Sep 17 00:00:00 2001
From: "oguzhan.bozoglu" <oguzhan.bozoglu@b-robotized.com>
Date: Fri, 5 Jun 2026 10:52:38 +0200
Subject: [PATCH 4/4] keep the end effector chain proper

---
 .../ee/parallel_link/openarm_parallel_gripper.xacro    | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
index c496d9c..5e4763c 100644
--- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
+++ b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro
@@ -15,11 +15,11 @@ limitations under the License.
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_gripper">
 
   <!--
-    tcp_xyz default: 0 0 0.186 m along +Z of connected_to (link7).
-    Calibrated to place hand_tcp at the fingertip centre.
-    Units: metres. Override explicitly when mounting at a different offset.
+    tcp_xyz: offset from hand link to hand_tcp along +Z of hand (metres).
+    Default 0 0 0.0835 is the calibrated fingertip-centre offset for the
+    parallel-link gripper — measured from the hand frame origin.
   -->
-  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.186' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
+  <xacro:macro name="openarm_parallel_gripper" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics ee_kinematics_link ee_joints_limits rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.0835' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
 
     <xacro:property name="ee_prefix" default=""/>
 
@@ -53,7 +53,7 @@ limitations under the License.
 
     <joint name="${ee_prefix}hand_tcp_joint" type="fixed">
       <origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
-      <parent link="${connected_to}" /> <child link="${ee_prefix}hand_tcp" />
+      <parent link="${ee_prefix}hand" /> <child link="${ee_prefix}hand_tcp" />
     </joint>
 
     <link name="${ee_prefix}left_finger">