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Fix Kinova mesh materials and remove Anymal mounting block #145

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Merged
merged 2 commits into from
Dec 9, 2022
Merged

Fix Kinova mesh materials and remove Anymal mounting block #145

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ef8b199
[kinova_description] Fix materials for Kinova
wxmerkt Dec 8, 2022
ee39846
[kinova_description] Remove Anymal mounting block from URDF
wxmerkt Dec 8, 2022
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37 changes: 35 additions & 2 deletions robots/kinova_description/meshes/hand_2finger.dae
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37 changes: 35 additions & 2 deletions robots/kinova_description/meshes/wrist_spherical_1.dae
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37 changes: 35 additions & 2 deletions robots/kinova_description/meshes/wrist_spherical_2.dae
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44 changes: 1 addition & 43 deletions robots/kinova_description/robots/kinova.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand All @@ -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>
Expand All @@ -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"/>
Expand Down