From 063f5b92365721cf30784c9401964dbf714585de Mon Sep 17 00:00:00 2001
From: Felix Kloss <felix.widmaier@tuebingen.mpg.de>
Date: Wed, 24 Apr 2024 15:14:15 +0200
Subject: [PATCH] fix: Update URDF files with latest version from
 robot_properties_fingers

Taken from robot_properties_fingers commit
427200b22ee4e595cf9a3b67d935698a44eb8ef2.
---
 CHANGELOG                                         |  2 ++
 .../urdf/pro/fingerpro.urdf                       |  5 -----
 .../urdf/pro/trifingerpro.urdf                    | 15 ---------------
 .../urdf/pro/trifingerpro_with_stage.urdf         | 15 ---------------
 4 files changed, 2 insertions(+), 35 deletions(-)

diff --git a/CHANGELOG b/CHANGELOG
index f8968e11..748b7fc1 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -20,6 +20,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 - Fixed a rounding error that occasionally resulted in NaN values when evaluating states
   in the "move_cuboid" task.
+- Fixed included URDF files of (Tri)FingerPro (see [robot_properties_fingers #15
+  ](https://github.com/open-dynamic-robot-initiative/robot_properties_fingers/pull/15)).
 
 
 ## 1.4.1 - 2022-06-24
diff --git a/trifinger_simulation/robot_properties_fingers/urdf/pro/fingerpro.urdf b/trifinger_simulation/robot_properties_fingers/urdf/pro/fingerpro.urdf
index 30b43e50..4493c0a7 100644
--- a/trifinger_simulation/robot_properties_fingers/urdf/pro/fingerpro.urdf
+++ b/trifinger_simulation/robot_properties_fingers/urdf/pro/fingerpro.urdf
@@ -203,11 +203,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
diff --git a/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro.urdf b/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro.urdf
index 66464e62..f4202647 100644
--- a/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro.urdf
+++ b/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro.urdf
@@ -225,11 +225,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
@@ -436,11 +431,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
@@ -647,11 +637,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
diff --git a/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf b/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf
index 04d605fb..f813e9f7 100644
--- a/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf
+++ b/trifinger_simulation/robot_properties_fingers/urdf/pro/trifingerpro_with_stage.urdf
@@ -225,11 +225,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
@@ -436,11 +431,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>
@@ -647,11 +637,6 @@
         <mesh filename="package://robot_properties_fingers/meshes/pro/tip_sim.stl" scale="1.0 1.0 1.0"/>
       </geometry>
     </collision>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.031"/>
-      <inertia ixx="5.166666666666667e-07" ixy="0" ixz="0" iyy="5.166666666666667e-07" iyz="0" izz="5.166666666666667e-07"/>
-    </inertial>
     <inertial>
       <origin rpy="0 0 0" xyz="-0.00001194 0.00000000 0.01560060"/>
       <mass value="0.0092"/>