From ee39846cf9c5551b115a2e57291fee4f9e38c054 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Thu, 8 Dec 2022 20:01:07 +0000
Subject: [PATCH] [kinova_description] Remove Anymal mounting block from URDF
---
robots/kinova_description/robots/kinova.urdf | 44 +-------------------
1 file changed, 1 insertion(+), 43 deletions(-)
diff --git a/robots/kinova_description/robots/kinova.urdf b/robots/kinova_description/robots/kinova.urdf
index 2150d31..dd415c7 100644
--- a/robots/kinova_description/robots/kinova.urdf
+++ b/robots/kinova_description/robots/kinova.urdf
@@ -33,10 +33,6 @@
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
- <!-- Material for the visual primitives -->
- <material name="anymal_material">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
<!-- Xacro:Properties -->
<!-- [m] -->
<!-- Base link -->
@@ -48,44 +44,6 @@
</inertial>
</link>
- <link name="jaco_front_hatch_support_v2">
- <inertial>
- <mass value="0.0"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
-
- <visual>
- <geometry>
- <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae"/>
- </geometry>
- </visual>
- </link>
- <joint name="base_to_jaco_support" type="fixed">
- <parent link="base"/>
- <child link="jaco_front_hatch_support_v2"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="jaco_mounting_block">
- <inertial>
- <mass value="0.0"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
-
- <visual>
- <geometry>
- <mesh filename="package://example-robot-data/robots/kinova_description/meshes/jaco_mounting_block.dae"/>
- </geometry>
- </visual>
- </link>
- <joint name="jaco_support_to_jaco_mounting_block" type="fixed">
- <parent link="jaco_front_hatch_support_v2"/>
- <child link="jaco_mounting_block"/>
- <origin rpy="0 0 0" xyz="0.045 0.00 -0.007626"/>
- </joint>
-
<link name="j2s6s200_link_base">
<visual>
<geometry>
@@ -107,7 +65,7 @@
</inertial>
</link>
<joint name="jaco_mounting_block_to_j2s6s200_link_base" type="fixed">
- <parent link="jaco_mounting_block"/>
+ <parent link="base"/>
<child link="j2s6s200_link_base"/>
<axis xyz="0 0 0"/>
<limit effort="0" lower="0" upper="0" velocity="0"/>
--
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