From 72189256f9eb2c837d38c7c69b19705031db04e1 Mon Sep 17 00:00:00 2001
From: Mohamed Fazil <mfazil@hello-robot.com>
Date: Wed, 3 May 2023 18:36:14 -0700
Subject: [PATCH] Revert "stretch-re2-2044 ready to ship"

This reverts commit 08516179f9d430680066d5e28d0ab401d501c51d.
---
 .../urdf/stretch_description.xacro            |   6 +-
 .../urdf/stretch_dex_wrist.xacro              | 451 ------------------
 2 files changed, 3 insertions(+), 454 deletions(-)
 delete mode 100644 stretch_description/urdf/stretch_dex_wrist.xacro

diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro
index f41f40b..d2f9359 100644
--- a/stretch_description/urdf/stretch_description.xacro
+++ b/stretch_description/urdf/stretch_description.xacro
@@ -1,8 +1,7 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
 
-  <xacro:include filename="stretch_dex_wrist.xacro" />
-  <!--<xacro:include filename="stretch_gripper.xacro" /> -->
+  <xacro:include filename="stretch_gripper.xacro" />
   <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
   <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
     
@@ -10,6 +9,7 @@
   <xacro:include filename="stretch_aruco.xacro" />
   <xacro:include filename="stretch_d435i.xacro" />
   <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
   <xacro:include filename="stretch_respeaker.xacro" />
 
 </robot>
diff --git a/stretch_description/urdf/stretch_dex_wrist.xacro b/stretch_description/urdf/stretch_dex_wrist.xacro
deleted file mode 100644
index 379b9b4..0000000
--- a/stretch_description/urdf/stretch_dex_wrist.xacro
+++ /dev/null
@@ -1,451 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dex_wrist">
-
-  <xacro:property name="scale_finger_length" value="0.9" />
-
-  <link
-    name="link_wrist_yaw_bottom">
-    <inertial>
-      <origin
-        xyz="-0.012839101377342 -0.0382787718640742 -0.0228400332263617"
-        rpy="0 0 0" />
-      <mass
-        value="0.0988906816399982" />
-      <inertia
-        ixx="2.60067866573596E-05"
-        ixy="-6.73176267521354E-06"
-        ixz="-2.43476436723672E-06"
-        iyy="5.99482946819923E-06"
-        iyz="-3.39642410492401E-06"
-        izz="2.56907114334732E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_wrist_yaw_bottom"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-3.14159265358979 1.13367999021379E-14 1.57079632679489" />
-    <parent
-      link="link_wrist_yaw" />
-    <child
-      link="link_wrist_yaw_bottom" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="link_wrist_pitch">
-    <inertial>
-      <origin
-        xyz="-0.00310609611067142 -0.0150777141465843 0.0204734587925901"
-        rpy="0 0 0" />
-      <mass
-        value="0.0701267146295583" />
-      <inertia
-        ixx="2.55965614980905E-06"
-        ixy="-1.47551515167608E-06"
-        ixz="-6.31436085977252E-08"
-        iyy="3.43968637386282E-06"
-        iyz="-4.17813567208843E-07"
-        izz="4.53568668211393E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_wrist_pitch"
-    type="revolute">
-    <origin
-      xyz="0 -0.0195500000000002 -0.0247499999999984"
-      rpy="1.5707963267949 -8.12895570882604E-15 -3.14159265358979" />
-    <parent
-      link="link_wrist_yaw_bottom" />
-    <child
-      link="link_wrist_pitch" />
-    <axis
-      xyz="0 0 -1" />
-    <limit effort="100" lower="-1.57" upper="0.56" velocity="1.0"/>
-  </joint>
-  <link
-    name="link_wrist_roll">
-    <inertial>
-      <origin
-        xyz="9.63118473862323E-15 -6.38378239159465E-15 0.00768048802649798"
-        rpy="0 0 0" />
-      <mass
-        value="0.00585666394358811" />
-      <inertia
-        ixx="2.55965614980905E-06"
-        ixy="-1.47551515167608E-06"
-        ixz="-6.31436085977252E-08"
-        iyy="3.43968637386282E-06"
-        iyz="-4.17813567208843E-07"
-        izz="4.53568668211393E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_roll.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_wrist_roll.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_wrist_roll"
-    type="revolute">
-    <origin
-      xyz="-0.0188587444076125 -0.0239999999998942 0.01955"
-      rpy="3.14159265358979 1.5707963267949 0" />
-    <parent
-      link="link_wrist_pitch" />
-    <child
-      link="link_wrist_roll" />
-    <axis
-      xyz="0 0 1" />
-    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
-  </joint>
-  <link
-    name="link_straight_gripper">
-    <inertial>
-      <origin
-        xyz="0.00150764845432383 -0.00711581846201287 0.0399737901417758"
-        rpy="0 0 0" />
-      <mass
-        value="0.0496384234458284" />
-      <inertia
-        ixx="5.61461154156397E-06"
-        ixy="8.29518962984231E-07"
-        ixz="-2.41382921888194E-06"
-        iyy="1.11504692003467E-05"
-        iyz="9.76174898123369E-07"
-        izz="6.63803357903882E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_straight_gripper.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_straight_gripper.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_straight_gripper"
-    type="fixed">
-    <origin
-      xyz="0 0 0.0155"
-      rpy="3.54987407349455E-30 3.24021254484265E-20 -3.14159265358979" />
-    <parent
-      link="link_wrist_roll" />
-    <child
-      link="link_straight_gripper" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="link_gripper_finger_right">
-    <inertial>
-      <origin
-        xyz="-0.094981 -0.0080152 -2.2204E-16"
-        rpy="0 0 0" />
-      <mass
-        value="0.047621" />
-      <inertia
-        ixx="0.001"
-        ixy="0"
-        ixz="0"
-        iyy="0.001"
-        iyz="0"
-        izz="0.001" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.79216 0.81961 0.93333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_gripper_finger_right"
-    type="revolute">
-    <origin
-      xyz="-0.018599 0.003 0.033689"
-      rpy="1.5708 1.5708 0" />
-    <parent
-      link="link_straight_gripper" />
-    <child
-      link="link_gripper_finger_right" />
-    <axis
-      xyz="0 0 1" />
-    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
-  </joint>
-  <link
-    name="link_gripper_fingertip_right">
-    <inertial>
-      <origin
-        xyz="2.83785970833783E-08 6.75131661687089E-09 0.00812578923434215"
-        rpy="0 0 0" />
-      <mass
-        value="0.00382160881468841" />
-      <inertia
-        ixx="0.001"
-        ixy="0"
-        ixz="0"
-        iyy="0.001"
-        iyz="0"
-        izz="0.001" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_gripper_fingertip_right"
-    type="fixed">
-    <origin
-      xyz="-0.190596948563868 -0.015 0"
-      rpy="-1.57079632679483 -3.43320051448326E-14 0.540456056432235" />
-    <parent
-      link="link_gripper_finger_right" />
-    <child
-      link="link_gripper_fingertip_right" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="link_gripper_finger_left">
-    <inertial>
-      <origin
-        xyz="0.0949811095686165 -0.00801522758203194 1.38777878078145E-15"
-        rpy="0 0 0" />
-      <mass
-        value="0.0476207785199479" />
-      <inertia
-        ixx="0.001"
-        ixy="0"
-        ixz="0"
-        iyy="0.001"
-        iyz="0"
-        izz="0.001" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="3.141592653589793 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="1.5707963267948966 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_gripper_finger_left"
-    type="revolute">
-    <origin
-      xyz="0.018599 0.003 0.033689"
-      rpy="1.5708 -1.5708 0" />
-    <parent
-      link="link_straight_gripper" />
-    <child
-      link="link_gripper_finger_left" />
-    <axis
-      xyz="0 0 -1" />
-    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
-  </joint>
-  <link
-    name="link_gripper_fingertip_left">
-    <inertial>
-      <origin
-        xyz="-2.59496317767116E-08 -6.65612598371723E-09 0.00812579036862837"
-        rpy="0 0 0" />
-      <mass
-        value="0.00382160686584851" />
-      <inertia
-        ixx="0.001"
-        ixy="0"
-        ixz="0"
-        iyy="0.001"
-        iyz="0"
-        izz="0.001" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="joint_gripper_fingertip_left"
-    type="fixed">
-    <origin
-      xyz="0.190596948563868 -0.015 0"
-      rpy="1.57079632679496 4.51275387511463E-14 2.60113659715756" />
-    <parent
-      link="link_gripper_finger_left" />
-    <child
-      link="link_gripper_fingertip_left" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-
-  <link
-      name="link_grasp_center">
-  </link>
-
-  <joint
-    name="joint_grasp_center"
-    type="fixed">
-    <origin
-      xyz="0 0 0.23"
-      rpy="-1.5707963267949 -1.5707963267949 0" />
-    <parent
-      link="link_straight_gripper" />
-    <child
-      link="link_grasp_center" />
-  </joint>
-
-</robot>
\ No newline at end of file