From d8eaa7745af7b4df8e743489b3b0974d71de78eb Mon Sep 17 00:00:00 2001
From: niko-holmes <holmesnikolaus@gmail.com>
Date: Wed, 11 Feb 2026 10:46:49 +0000
Subject: [PATCH 1/2] make hand and arm work again

---
 dx_launch/description/0x02000105.urdf.xacro   |  4 +-
 dx_launch/description/0x02000107.urdf.xacro   | 44 +++++++++++++++++++
 dx_launch/description/0x02000109.urdf.xacro   | 44 +++++++++++++++++++
 dx_launch/description/dexee_ur.urdf.xacro     | 10 ++++-
 .../launch/ur_arm_driver_only.launch.xml      |  4 +-
 5 files changed, 101 insertions(+), 5 deletions(-)
 create mode 100644 dx_launch/description/0x02000107.urdf.xacro
 create mode 100644 dx_launch/description/0x02000109.urdf.xacro

diff --git a/dx_launch/description/0x02000105.urdf.xacro b/dx_launch/description/0x02000105.urdf.xacro
index d1fd76a..93bc29d 100644
--- a/dx_launch/description/0x02000105.urdf.xacro
+++ b/dx_launch/description/0x02000105.urdf.xacro
@@ -24,7 +24,7 @@
  software, even if advised of the possibility of such damage.
 -->
 
-<robot name="e3_r3_hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="dexee_config_1_hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:include filename="$(find dx_description)/robot/0x02000105.xacro" />
   <xacro:arg name="prefix" default="" />
   <xacro:arg name="robot_system_id" default="" />
@@ -33,7 +33,7 @@
     <parent link="world" />
     <child link="$(arg prefix)hand_base" />
   </joint>
-  <xacro:e3_r3_hand prefix="$(arg prefix)" />
+  <xacro:dexee_config_1_hand prefix="$(arg prefix)" />
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
       <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
diff --git a/dx_launch/description/0x02000107.urdf.xacro b/dx_launch/description/0x02000107.urdf.xacro
new file mode 100644
index 0000000..13ea79e
--- /dev/null
+++ b/dx_launch/description/0x02000107.urdf.xacro
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2026 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot name="dexee_config_2_right_hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find dx_description)/robot/0x02000107.xacro" />
+  <xacro:arg name="prefix" default="" />
+  <xacro:arg name="robot_system_id" default="" />
+  <link name="world" />
+  <joint name="$(arg prefix)world_joint" type="fixed">
+    <parent link="world" />
+    <child link="$(arg prefix)hand_base" />
+  </joint>
+  <xacro:dexee_config_2_right_hand prefix="$(arg prefix)" />
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+      <robotNamespace>hand_$(arg robot_system_id)</robotNamespace>
+      <robotParam>$(arg prefix)robot_description</robotParam>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/dx_launch/description/0x02000109.urdf.xacro b/dx_launch/description/0x02000109.urdf.xacro
new file mode 100644
index 0000000..721f88d
--- /dev/null
+++ b/dx_launch/description/0x02000109.urdf.xacro
@@ -0,0 +1,44 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2026 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot name="dexee_config_2_left_hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find dx_description)/robot/0x02000109.xacro" />
+  <xacro:arg name="prefix" default="" />
+  <xacro:arg name="robot_system_id" default="" />
+  <link name="world" />
+  <joint name="$(arg prefix)world_joint" type="fixed">
+    <parent link="world" />
+    <child link="$(arg prefix)hand_base" />
+  </joint>
+  <xacro:dexee_config_2_left_hand prefix="$(arg prefix)" />
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
+      <robotNamespace>hand_$(arg robot_system_id)</robotNamespace>
+      <robotParam>$(arg prefix)robot_description</robotParam>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/dx_launch/description/dexee_ur.urdf.xacro b/dx_launch/description/dexee_ur.urdf.xacro
index 323b524..d7fa9ce 100644
--- a/dx_launch/description/dexee_ur.urdf.xacro
+++ b/dx_launch/description/dexee_ur.urdf.xacro
@@ -64,7 +64,15 @@
 
   <xacro:include filename="$(find dx_description)/robot/$(arg hand_type).xacro" />
 
-  <xacro:e3_r3_hand prefix="$(arg hand_prefix)_" />
+  <xacro:if value="${'$(arg hand_type)' == '0x02000105'}">
+      <xacro:dexee_config_1_hand prefix="$(arg hand_prefix)_" />
+  </xacro:if>
+  <xacro:if value="${'$(arg hand_type)' == '0x02000107'}">
+      <xacro:dexee_config_2_right_hand prefix="$(arg hand_prefix)_" />
+  </xacro:if>
+  <xacro:if value="${'$(arg hand_type)' == '0x02000109'}">
+      <xacro:dexee_config_2_left_hand prefix="$(arg hand_prefix)_" />
+  </xacro:if>
 
   <joint name="world_joint" type="fixed">
       <parent link="world"/>
diff --git a/dx_launch/launch/ur_arm_driver_only.launch.xml b/dx_launch/launch/ur_arm_driver_only.launch.xml
index bb781b3..b7bc085 100644
--- a/dx_launch/launch/ur_arm_driver_only.launch.xml
+++ b/dx_launch/launch/ur_arm_driver_only.launch.xml
@@ -47,7 +47,7 @@
   <arg name="arm_speed_scale" default="0.5"/>
 
   <!-- Set arm payload mass and center of gravity -->
-  <group if="$(eval hand and arg('hand_type') == '0x02000105')">
+  <group if="$(arg hand)">
     <!-- Get correct mass -->
     <arg name="hand_mass" value="4.16453837"/>
     <arg if="$(eval arg('mounting_plate') and arg('mounting_plate_name') == 'G-SHW063_Tool_change_plate')"
@@ -95,7 +95,7 @@
     <param name="from_ns" value="/$(arg arm_prefix)_sr_ur_robot_hw"/>
     <param name="to_ns" value="$(arg arm_prefix)_sr_ur_robot_hw"/>
     <param name="param_name" value="kinematics"/>
-    <!-- Wait a bit until all the subparameters under kinematics have been loaded to the parameter server before 
+    <!-- Wait a bit until all the subparameters under kinematics have been loaded to the parameter server before
     copying them -->
     <param name="seconds_to_wait" value="0.1"/>
   </node>

From ab24004811e99c1aa128251f51a79913c654a4a7 Mon Sep 17 00:00:00 2001
From: niko-holmes <holmesnikolaus@gmail.com>
Date: Mon, 16 Feb 2026 11:46:56 +0000
Subject: [PATCH 2/2] Correct chiral orientations w/ tool changer

---
 dx_launch/description/dexee_ur.urdf.xacro | 27 ++++++++++++++++++++---
 1 file changed, 24 insertions(+), 3 deletions(-)

diff --git a/dx_launch/description/dexee_ur.urdf.xacro b/dx_launch/description/dexee_ur.urdf.xacro
index d7fa9ce..e342430 100644
--- a/dx_launch/description/dexee_ur.urdf.xacro
+++ b/dx_launch/description/dexee_ur.urdf.xacro
@@ -82,9 +82,30 @@
 
   <xacro:if value="$(arg mounting_plate)">
     <xacro:include filename="$(find dx_description)/xacros/mounting_plates/$(arg mounting_plate_name).xacro" />
-    <xacro:macro_e3r3_mounting_plate prefix="$(arg hand_prefix)_" parent="$(arg arm_prefix)_flange" mounted_tool="$(arg hand_prefix)_hand_base" >
-      <origin xyz="0.0 0.0 0.0" rpy="${pi/2.0} ${3.0*pi/4.0} ${pi/2.0}"/>
-    </xacro:macro_e3r3_mounting_plate>
+    <xacro:if value="${'$(arg hand_type)' == '0x02000105'}">
+        <xacro:macro_e3r3_mounting_plate prefix="$(arg hand_prefix)_"
+                parent="$(arg arm_prefix)_flange"
+                mounted_tool="$(arg hand_prefix)_hand_base"
+                mounted_tool_origin_rpy="0 0 0" >
+            <origin xyz="0.0 0.0 0.0" rpy="${pi/2.0} ${3.0*pi/4.0} ${pi/2.0}"/>
+        </xacro:macro_e3r3_mounting_plate>
+    </xacro:if>
+    <xacro:if value="${'$(arg hand_type)' == '0x02000107'}">
+        <xacro:macro_e3r3_mounting_plate prefix="$(arg hand_prefix)_"
+                parent="$(arg arm_prefix)_flange"
+                mounted_tool="$(arg hand_prefix)_hand_base"
+                mounted_tool_origin_rpy="0 0 ${pi/2.0}" >
+            <origin xyz="0.0 0.0 0.0" rpy="${pi/2.0} ${3.0*pi/4.0} ${pi/2.0}"/>
+        </xacro:macro_e3r3_mounting_plate>
+    </xacro:if>
+    <xacro:if value="${'$(arg hand_type)' == '0x02000109'}">
+        <xacro:macro_e3r3_mounting_plate prefix="$(arg hand_prefix)_"
+                parent="$(arg arm_prefix)_flange"
+                mounted_tool="$(arg hand_prefix)_hand_base"
+                mounted_tool_origin_rpy="0 0 ${pi/2.0}" >
+            <origin xyz="0.0 0.0 0.0" rpy="${pi/2.0} ${3.0*pi/4.0} ${pi/2.0}"/>
+        </xacro:macro_e3r3_mounting_plate>
+    </xacro:if>
   </xacro:if>
   <xacro:unless value="$(arg mounting_plate)">
     <joint name="$(arg arm_prefix)_arm_to_hand" type="fixed">