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I guess I was tired when I raise this question.

The solution is to create one macro for the inertia and mass and another one for the origin, parent, origin and axis of the joint. The macros can be called dynamically with a single parameter.

The specific arm part values have to be stored in the macros directly.

That gives a very readable code, with 5 calls to a macro, calling sub-macros. And a set of five macros very close to the spec sheet of the arm parts.