Fix xacros

Author: Jepear19

Industrial/robotiq_description/urdf/robotiq_85_gripper.urdf.xacro

@@ -40,13 +40,12 @@
       <limit lower="0.0" upper="0.80285" velocity="0.5" effort="1000"/>
     </joint>
 
-    <joint name="${prefix}robotiq_85_right_knuckle_joint" type="continuous">
+    <joint name="${prefix}robotiq_85_right_knuckle_joint" type="fixed">
       <parent link="${prefix}robotiq_85_base_link"/>
       <child link="${prefix}robotiq_85_right_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.05490451627 -0.03060114443 0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_knuckle_link">
@@ -141,22 +140,20 @@
       </inertial>
     </link> 
 
-    <joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="continuous">
+    <joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="fixed">
       <parent link="${prefix}robotiq_85_base_link"/>
       <child link="${prefix}robotiq_85_left_inner_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 0.0127 0" rpy="${pi} 0.0 0.0" />
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0" offset="0"/>
     </joint>
 
-    <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
+    <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="fixed">
       <parent link="${prefix}robotiq_85_base_link"/>
       <child link="${prefix}robotiq_85_right_inner_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 -0.0127 0" rpy="0 0 0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0" offset="0"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_inner_knuckle_link">
@@ -198,22 +195,20 @@
       </inertial>
     </link>
 
-    <joint name="${prefix}robotiq_85_left_finger_tip_joint" type="continuous">
+    <joint name="${prefix}robotiq_85_left_finger_tip_joint" type="fixed">
       <parent link="${prefix}robotiq_85_left_inner_knuckle_link"/>
       <child link="${prefix}robotiq_85_left_finger_tip_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.04303959807 -0.03759940821 0.0" rpy="0.0 0.0 0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
     </joint>
 
-    <joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
+    <joint name="${prefix}robotiq_85_right_finger_tip_joint" type="fixed">
       <parent link="${prefix}robotiq_85_right_inner_knuckle_link"/>
       <child link="${prefix}robotiq_85_right_finger_tip_link"/>
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.04303959807 -0.03759940821  0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
     </joint>
 
 
@@ -271,39 +266,6 @@
       <mu2>1.0</mu2>
       <minDepth>0.001</minDepth>
     </gazebo>
-
-    <gazebo>
-      <plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
-        <joint>${prefix}robotiq_85_right_knuckle_joint</joint>
-        <mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
-        <multiplier>1.0</multiplier>
-        <offset>0.0</offset>
-      </plugin>
-      <plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
-        <joint>${prefix}robotiq_85_left_inner_knuckle_joint</joint>
-        <mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
-        <multiplier>1.0</multiplier>
-        <offset>0.0</offset>
-      </plugin>
-      <plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
-        <joint>${prefix}robotiq_85_right_inner_knuckle_joint</joint>
-        <mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
-        <multiplier>1.0</multiplier>
-        <offset>0.0</offset>
-      </plugin>
-      <plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
-        <joint>${prefix}robotiq_85_left_finger_tip_joint</joint>
-        <mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
-        <multiplier>-1.0</multiplier>
-        <offset>0.0</offset>
-      </plugin>
-      <plugin filename="gz-sim-mimic-joint-system" name="gz::sim::systems::MimicJoint">
-        <joint>${prefix}robotiq_85_right_finger_tip_joint</joint>
-        <mimic_joint>${prefix}robotiq_85_left_knuckle_joint</mimic_joint>
-        <multiplier>-1.0</multiplier>
-        <offset>0.0</offset>
-      </plugin>
-    </gazebo>
 
     <xacro:robotiq_85_gripper_transmission prefix="${prefix}" />
 

Industrial/ros2_SimRealRobotControl_gz/packages/ur5/ros2srrc_ur5_gazebo/urdf/ur5_robotiq_2f85.urdf.xacro

@@ -94,10 +94,10 @@
 
       </plugin>
 
-      <plugin filename="libgz_mimic_joint.so" name="gz_mimic_joint">
+      <!--<plugin filename="libgz_mimic_joint.so" name="gz_mimic_joint::MimicJoint">
         <parent_joint>robotiq_85_left_knuckle_joint</parent_joint>
         <mimic_joint>robotiq_85_right_knuckle_joint</mimic_joint>
-      </plugin>
+      </plugin>-->
     </gazebo>
 
   </xacro:unless>