Remove mimic tags from ros2_control URDF in Panda descriptions (#200)

moveit · Jul 17, 2024 · 6d3084a · 6d3084a
1 parent 55d3ce0
commit 6d3084a
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diff --git a/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro b/dual_arm_panda_moveit_config/config/panda_hand.ros2_control.xacro
@@ -16,9 +16,6 @@
                 </state_interface>
             </joint>
             <joint name="${prefix}panda_finger_joint2">
-                <param name="mimic">${prefix}panda_finger_joint1</param>
-                <param name="multiplier">1</param>
-                <command_interface name="position" />
                 <state_interface name="position">
                   <param name="initial_value">0.0</param>
                 </state_interface>

diff --git a/panda_moveit_config/config/panda_hand.ros2_control.xacro b/panda_moveit_config/config/panda_hand.ros2_control.xacro
@@ -23,9 +23,6 @@
                 </state_interface>
             </joint>
             <joint name="panda_finger_joint2">
-                <param name="mimic">panda_finger_joint1</param>
-                <param name="multiplier">1</param>
-                <command_interface name="position" />
                 <state_interface name="position">
                   <param name="initial_value">0.0</param>
                 </state_interface>