From e8e705dd1106a4bca2441412d6adab0ffa38cc87 Mon Sep 17 00:00:00 2001
From: CongLiu <cong.liu@moying.ai>
Date: Sat, 21 Sep 2019 14:15:40 +0800
Subject: [PATCH 1/2] robotiq_2f_85_gripper_visualization: fix mimic joint
 limits and mesh error

---
 .../urdf/robotiq_arg2f.xacro                  |  2 +-
 .../urdf/robotiq_arg2f_85_model_macro.xacro   | 22 +++++++++----------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
index 4c1db1f7..4adbebbe 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro
@@ -10,7 +10,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl" scale="1 1 1"/>
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
index 6ce1bfa6..edc38107 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
@@ -4,11 +4,11 @@
 
   <xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
     <link name="${prefix}${fingerprefix}_outer_knuckle">
-      <!--<inertial>
+      <inertial>
         <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
         <mass value="0.00853198276973456" />
         <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
-        </inertial> -->
+      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -29,11 +29,11 @@
 
   <xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
     <link name="${prefix}${fingerprefix}_outer_finger">
-      <!--<inertial>
+      <inertial>
         <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
         <mass value="0.022614240507152" />
         <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
-        </inertial> -->
+      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -54,11 +54,11 @@
 
   <xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
     <link name="${prefix}${fingerprefix}_inner_knuckle">
-      <!--<inertial>
+      <inertial>
         <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
        <mass value="0.0271177346495152" />
         <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
-        </inertial> -->
+      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -79,11 +79,11 @@
 
   <xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
     <link name="${prefix}${fingerprefix}_inner_finger">
-      <!--<inertial>
+      <inertial>
         <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
         <mass value="0.0104003125914103" />
         <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
-        </inertial> -->
+      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -142,7 +142,7 @@
       <parent link="${prefix}robotiq_arg2f_base_link" />
       <child link="${prefix}${fingerprefix}_inner_knuckle" />
       <axis xyz="1 0 0" />
-      <limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
+      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
     </joint>
   </xacro:macro>
@@ -153,7 +153,7 @@
       <parent link="${prefix}${fingerprefix}_outer_finger" />
       <child link="${prefix}${fingerprefix}_inner_finger" />
       <axis xyz="1 0 0" />
-      <limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
+      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
     </joint>
   </xacro:macro>
@@ -186,7 +186,7 @@
       <parent link="${prefix}robotiq_arg2f_base_link" />
       <child link="${prefix}right_outer_knuckle" />
       <axis xyz="1 0 0" />
-      <limit lower="0" upper="0.81" velocity="2.0" effort="1000" />
+      <limit lower="-0.81" upper="0.81" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
     </joint>
     <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>

From b591fca3061a177936b5165b03202d425fddd7c0 Mon Sep 17 00:00:00 2001
From: Cong Liu <liucong.cdhaw@gmail.com>
Date: Mon, 7 Aug 2023 09:30:59 +0800
Subject: [PATCH 2/2] Update robotiq_arg2f_85_model_macro.xacro

---
 .../urdf/robotiq_arg2f_85_model_macro.xacro                 | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
index edc38107..d7e49ce9 100644
--- a/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
+++ b/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro
@@ -142,7 +142,7 @@
       <parent link="${prefix}robotiq_arg2f_base_link" />
       <child link="${prefix}${fingerprefix}_inner_knuckle" />
       <axis xyz="1 0 0" />
-      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
+      <limit lower="-0.8757" upper="0" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
     </joint>
   </xacro:macro>
@@ -153,7 +153,7 @@
       <parent link="${prefix}${fingerprefix}_outer_finger" />
       <child link="${prefix}${fingerprefix}_inner_finger" />
       <axis xyz="1 0 0" />
-      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
+      <limit lower="-0.8757" upper="0" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
     </joint>
   </xacro:macro>
@@ -186,7 +186,7 @@
       <parent link="${prefix}robotiq_arg2f_base_link" />
       <child link="${prefix}right_outer_knuckle" />
       <axis xyz="1 0 0" />
-      <limit lower="-0.81" upper="0.81" velocity="2.0" effort="1000" />
+      <limit lower="-0.81" upper="0" velocity="2.0" effort="1000" />
       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
     </joint>
     <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>