From ac02893deebfaa011dda9f05167fb2709a80d408 Mon Sep 17 00:00:00 2001
From: Balakumar Sundaralingam <balakumars@nvidia.com>
Date: Sat, 4 Nov 2023 09:55:30 -0700
Subject: [PATCH] fix for panda mimic

---
 .../content/assets/robot/franka_description/franka_panda.urdf   | 2 --
 .../robot/franka_description/franka_panda_mobile_xy_tz.urdf     | 1 -
 .../content/assets/robot/franka_description/franka_test.urdf    | 1 -
 3 files changed, 4 deletions(-)

diff --git a/src/curobo/content/assets/robot/franka_description/franka_panda.urdf b/src/curobo/content/assets/robot/franka_description/franka_panda.urdf
index 30d64a0..6a310a3 100644
--- a/src/curobo/content/assets/robot/franka_description/franka_panda.urdf
+++ b/src/curobo/content/assets/robot/franka_description/franka_panda.urdf
@@ -246,9 +246,7 @@
     <axis xyz="0 1 0"/>
     <dynamics damping="10.0"/>
     <limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
-    <mimic joint="panda_finger_joint1"/>
   </joint>
-  
   <link name="ee_link"/>
 
   <joint name="ee_fixed_joint" type="fixed">
diff --git a/src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf b/src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf
index f225fe7..6082ce4 100644
--- a/src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf
+++ b/src/curobo/content/assets/robot/franka_description/franka_panda_mobile_xy_tz.urdf
@@ -324,7 +324,6 @@
     <axis xyz="0 1 0"/>
     <dynamics damping="10.0"/>
     <limit effort="20" lower="-0.04" upper="0.0" velocity="0.2"/>
-    <mimic joint="panda_finger_joint1"/>
   </joint>
 
 </robot>
diff --git a/src/curobo/content/assets/robot/franka_description/franka_test.urdf b/src/curobo/content/assets/robot/franka_description/franka_test.urdf
index 2b841b3..eb4115d 100644
--- a/src/curobo/content/assets/robot/franka_description/franka_test.urdf
+++ b/src/curobo/content/assets/robot/franka_description/franka_test.urdf
@@ -280,7 +280,6 @@
     <origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
     <axis xyz="0 -1 0"/>
     <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-    <mimic joint="panda_finger_joint1"/>
   </joint>
   <link name="right_gripper">
     <inertial>