From 0e519442ebf7be874b423223ad8f0094cc8fcb5e Mon Sep 17 00:00:00 2001
From: hello-binit <64861565+hello-binit@users.noreply.github.com>
Date: Wed, 23 Jun 2021 18:59:35 -0400
Subject: [PATCH 1/2] Revert all xacros to pre-gazebo merge
---
stretch_description/urdf/stretch_aruco.xacro | 6 +-
stretch_description/urdf/stretch_d435i.xacro | 6 +-
.../urdf/stretch_gripper.xacro | 39 ++--
.../urdf/stretch_laser_range_finder.xacro | 1 +
stretch_description/urdf/stretch_main.xacro | 202 +++++++-----------
5 files changed, 109 insertions(+), 145 deletions(-)
diff --git a/stretch_description/urdf/stretch_aruco.xacro b/stretch_description/urdf/stretch_aruco.xacro
index 8902d2a..602f60c 100644
--- a/stretch_description/urdf/stretch_aruco.xacro
+++ b/stretch_description/urdf/stretch_aruco.xacro
@@ -119,7 +119,7 @@
xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
rpy="0 0 0" />
+ value="0.000399141592653546" />
+ value="0.000224999999999975" />
+ value="0.000225" />
-
+
-
+
-
+
diff --git a/stretch_description/urdf/stretch_gripper.xacro b/stretch_description/urdf/stretch_gripper.xacro
index 03acc68..14615d8 100644
--- a/stretch_description/urdf/stretch_gripper.xacro
+++ b/stretch_description/urdf/stretch_gripper.xacro
@@ -12,12 +12,12 @@
+ ixx="2.79241618017607E-05"
+ ixy="-1.10819247449605E-05"
+ ixz="-1.50343284036654E-05"
+ iyy="3.67945130513069E-05"
+ iyz="-4.33280448535579E-06"
+ izz="4.14524691955231E-05" />
+ izz="0" />
+ izz="0" />
+ izz="0" />
+ izz="0" />
+
+
+
diff --git a/stretch_description/urdf/stretch_laser_range_finder.xacro b/stretch_description/urdf/stretch_laser_range_finder.xacro
index a770215..af62fb6 100644
--- a/stretch_description/urdf/stretch_laser_range_finder.xacro
+++ b/stretch_description/urdf/stretch_laser_range_finder.xacro
@@ -58,4 +58,5 @@
+
diff --git a/stretch_description/urdf/stretch_main.xacro b/stretch_description/urdf/stretch_main.xacro
index 7113379..7d878f2 100644
--- a/stretch_description/urdf/stretch_main.xacro
+++ b/stretch_description/urdf/stretch_main.xacro
@@ -1,11 +1,6 @@
-
-
-
-
-
-
+
@@ -54,14 +49,14 @@
xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
rpy="0 0 0" />
+ value="0.00356714564938475" />
+ izz="0" />
@@ -100,7 +95,6 @@
link="link_right_wheel" />
-
+ value="0.00356714564938459" />
+ izz="0" />
@@ -156,60 +150,8 @@
link="link_left_wheel" />
-
-
-
-
-
-
-
-
-
-
-
-
- 0
- 0
- 1.0
- 1.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
@@ -310,7 +252,7 @@
name="joint_lift"
type="prismatic">
@@ -318,7 +260,10 @@
link="link_lift" />
-
+
+
+
+
+ ixx="0.000115246639451415"
+ ixy="4.42139679831176E-14"
+ ixz="1.89711279909763E-09"
+ iyy="0.000115246639420046"
+ iyz="-2.68592949587539E-09"
+ izz="9.38270676408352E-14" />
+
@@ -441,12 +387,12 @@
+ ixx="0.000105206697151872"
+ ixy="2.59896259031046E-14"
+ ixz="1.69941454517918E-09"
+ iyy="0.000105206697154717"
+ iyz="-1.60895568923743E-09"
+ izz="5.20570301686304E-14" />
+
@@ -497,12 +444,12 @@
+ ixx="9.58490021274768E-05"
+ ixy="2.27446667584309E-14"
+ ixz="1.54951672295709E-09"
+ iyy="9.5849002131875E-05"
+ iyz="-1.40692486873422E-09"
+ izz="4.57014633924348E-14" />
+
@@ -553,12 +501,12 @@
+ ixx="0.000227156999010352"
+ ixy="8.90680620109423E-06"
+ ixz="-7.91132210985695E-05"
+ iyy="0.000300732790537324"
+ iyz="7.21771824540896E-06"
+ izz="9.35784422621597E-05" />
+
@@ -609,12 +558,12 @@
+ ixx="2.20062857967227E-09"
+ ixy="1.15494401227051E-13"
+ ixz="1.02598056874346E-11"
+ iyy="2.20039759185237E-09"
+ iyz="-2.47692875363392E-11"
+ izz="3.26666802416509E-13" />
+ rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -653,6 +602,12 @@
link="link_wrist_yaw" />
+
@@ -665,12 +620,12 @@
+ ixx="2.9340596231093E-05"
+ ixy="-7.89638931853666E-07"
+ ixz="-4.74678128515878E-06"
+ iyy="2.68283736177377E-05"
+ iyz="1.80251508621876E-06"
+ izz="1.4617291423745E-05" />
+ ixx="2.75847937559827E-05"
+ ixy="5.25762707913649E-07"
+ ixz="-9.28796751052893E-07"
+ iyy="2.08815921106858E-05"
+ iyz="1.17265055331737E-05"
+ izz="6.78612505435872E-06" />
+
@@ -776,12 +732,12 @@
+ ixx="1.73265934767466E-05"
+ ixy="2.38363792824069E-07"
+ ixz="7.96430204321056E-08"
+ iyy="4.11044416077217E-05"
+ iyz="-9.41955638215997E-07"
+ izz="2.38851808140542E-05" />
+
+
+
+
From a403930eb865e51cee0a57f59996b30aa65499d2 Mon Sep 17 00:00:00 2001
From: hello-binit <64861565+hello-binit@users.noreply.github.com>
Date: Mon, 26 Jul 2021 15:20:40 -0400
Subject: [PATCH 2/2] Re-apply innocuous xacro changes
---
stretch_description/urdf/stretch_aruco.xacro | 6 +-
stretch_description/urdf/stretch_d435i.xacro | 6 +-
.../urdf/stretch_gripper.xacro | 39 ++--
.../urdf/stretch_laser_range_finder.xacro | 3 -
stretch_description/urdf/stretch_main.xacro | 187 +++++++++++-------
5 files changed, 145 insertions(+), 96 deletions(-)
diff --git a/stretch_description/urdf/stretch_aruco.xacro b/stretch_description/urdf/stretch_aruco.xacro
index 602f60c..8902d2a 100644
--- a/stretch_description/urdf/stretch_aruco.xacro
+++ b/stretch_description/urdf/stretch_aruco.xacro
@@ -119,7 +119,7 @@
xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
rpy="0 0 0" />
+ value="0" />
+ value="0" />
+ value="0" />
-
+
-
+
-
+
diff --git a/stretch_description/urdf/stretch_gripper.xacro b/stretch_description/urdf/stretch_gripper.xacro
index 14615d8..03acc68 100644
--- a/stretch_description/urdf/stretch_gripper.xacro
+++ b/stretch_description/urdf/stretch_gripper.xacro
@@ -12,12 +12,12 @@
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ izz="0.001" />
+ izz="0.001" />
+ izz="0.001" />
+ izz="0.001" />
-
-
-
diff --git a/stretch_description/urdf/stretch_laser_range_finder.xacro b/stretch_description/urdf/stretch_laser_range_finder.xacro
index af62fb6..3632a66 100644
--- a/stretch_description/urdf/stretch_laser_range_finder.xacro
+++ b/stretch_description/urdf/stretch_laser_range_finder.xacro
@@ -57,6 +57,3 @@
-
-
-
diff --git a/stretch_description/urdf/stretch_main.xacro b/stretch_description/urdf/stretch_main.xacro
index 7d878f2..6309cde 100644
--- a/stretch_description/urdf/stretch_main.xacro
+++ b/stretch_description/urdf/stretch_main.xacro
@@ -1,6 +1,11 @@
-
+
+
+
+
+
+
@@ -49,14 +54,14 @@
xyz="1.25554620866719E-07 3.54748938447003E-07 0.0239581106165018"
rpy="0 0 0" />
+ value="0.01" />
+ izz="0.001" />
+
+ value="0.01" />
+ izz="0.001" />
+
-
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -330,12 +388,12 @@
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -603,10 +661,10 @@
@@ -620,12 +678,12 @@
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
+ ixx="0.001"
+ ixy="0"
+ ixz="0"
+ iyy="0.001"
+ iyz="0"
+ izz="0.001" />
-
-
-