From 6d3084a3fcaaaef84695ddd57aebb8637935eb56 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Date: Wed, 17 Jul 2024 05:21:17 -0400
Subject: [PATCH] Remove mimic tags from ros2_control URDF in Panda
 descriptions (#200)

---
 .../config/panda_hand.ros2_control.xacro                       | 3 ---
 panda_moveit_config/config/panda_hand.ros2_control.xacro       | 3 ---
 2 files changed, 6 deletions(-)

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
index a45ea05..ab7227c 100644
--- 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
index 9adc4f6..06cfac1 100644
--- 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>