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openarm_parallel_gripper.xacro kept an old, commented-out definition of
finger_joint1 and finger_joint2 (z = 0.115, 333 N, 10 m/s) after the
real joints. xacro preserves comments, so this block was emitted
verbatim, with unexpanded ${ee_prefix}, into every generated V1 URDF and,
since enactic#89, into the standalone gripper URDF as well.
Remove the block and regenerate the V1 example URDF.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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🟢 Approval recommended
Only inactive comments are removed; active joints, limits, and mimic relationships remain unchanged.
0 open findings
What changed in this PR
Removes obsolete commented-out finger joints from the shared V1 gripper macro and generated example, without changing active robot definitions.
Changes:
- Deletes stale joint comments containing unexpanded parameters and outdated limits.
- Removes both emitted copies from the V1 example URDF.
| File | Description |
|---|---|
| assets/robot/openarm_v1.0/urdf/example/v1.urdf | Removes obsolete comments for both grippers. |
| assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro | Removes the source comment block from the shared macro. |
🧠 Review effort: Balanced
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I close this in favor of #91. |
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openarm_parallel_gripper.xacro kept an old, commented-out definition of finger_joint1 and finger_joint2 (z = 0.115, 333 N, 10 m/s) after the real joints. xacro preserves comments, so this block was emitted verbatim, with unexpanded ${ee_prefix}, into every generated V1 URDF and, since #89, into the standalone gripper URDF as well.
Remove the block and regenerate the V1 example URDF.