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Xacro evaluates everything that is inside ${} so the variables inside an expression will be evaluated automatically. As a result xacro doesn't support nested ${}.

For example: this fails:
<origin rpy="${${pi} / 2 * -1} 0 0" xyz="0 ${${reflect} * 0.1175} -0.074"/>

but this succeeds with the expected result:
<origin rpy="${pi / 2 * -1} 0 0" xyz="0 ${reflect * 0.1175} -0.074"/>

Hope this helps

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