From 8e8ba94d875bb0b2687374ff94a526703e196413 Mon Sep 17 00:00:00 2001
From: Alexandre Vannobel <avannobel@kinova.ca>
Date: Mon, 8 Jun 2020 18:07:42 -0400
Subject: [PATCH 1/3] Add hasPID tag to mimic joints so Robotiq gripper doesnt
 fly around

---
 .../urdf/robotiq_2f_140_transmission_macro.xacro             | 5 +++++
 .../urdf/robotiq_2f_85_transmission_macro.xacro              | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
index 9f3d3a71..11adb98f 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
@@ -21,6 +21,7 @@
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_2">
                 <joint>finger_joint</joint>
@@ -28,6 +29,7 @@
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_3">
                 <joint>finger_joint</joint>
@@ -35,6 +37,7 @@
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_4">
                 <joint>finger_joint</joint>
@@ -42,6 +45,7 @@
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_5">
                 <joint>finger_joint</joint>
@@ -49,6 +53,7 @@
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
 
             <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
index 78d38248..fe287f37 100644
--- a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
@@ -21,6 +21,7 @@
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_2">
                 <joint>finger_joint</joint>
@@ -28,6 +29,7 @@
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_3">
                 <joint>finger_joint</joint>
@@ -35,6 +37,7 @@
                 <multiplier>1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_4">
                 <joint>finger_joint</joint>
@@ -42,6 +45,7 @@
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_5">
                 <joint>finger_joint</joint>
@@ -49,6 +53,7 @@
                 <multiplier>-1.0</multiplier>
                 <offset>0.0</offset>
                 <maxEffort>5.0</maxEffort>
+                <hasPID/>
             </plugin>
 
             <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">

From 486ec78bad300a6baeef1a1fd97169a731b3b7a9 Mon Sep 17 00:00:00 2001
From: Alexandre Vannobel <avannobel@kinova.ca>
Date: Mon, 8 Jun 2020 19:32:24 -0400
Subject: [PATCH 2/3] Adjust colors for the Robotiq 140 model

---
 .../robotiq_2f_140/urdf/robotiq_arg2f.xacro    |  2 +-
 .../urdf/robotiq_arg2f_140_model_macro.xacro   | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro
index 4b1853fa..4b548ff6 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro
@@ -35,7 +35,7 @@
     </link>
 
     <gazebo reference="${prefix}robotiq_arg2f_base_link">
-      <material>Gazebo/Black</material>
+      <material>Gazebo/Black</material>  
     </gazebo>
 
   </xacro:macro>
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro
index 29351833..a383edea 100644
--- a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro
@@ -29,6 +29,15 @@
         </geometry>
       </collision>
     </link>
+    <gazebo reference="${prefix}${fingerprefix}_outer_knuckle">
+      <visual>  
+        <material>  
+          <ambient>0.792156862745098 0.819607843137255 0.933333333333333 1</ambient>  
+          <diffuse>0.792156862745098 0.819607843137255 0.933333333333333 1</diffuse>  
+        </material>  
+      </visual> 
+    </gazebo>
+    
   </xacro:macro>
 
   <xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
@@ -60,6 +69,9 @@
         </geometry>
       </collision>
     </link>
+    <gazebo reference="${prefix}${fingerprefix}_outer_finger">
+      <material>Gazebo/Black</material>
+    </gazebo>
   </xacro:macro>
 
   <xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
@@ -91,6 +103,9 @@
         </geometry>
       </collision>
     </link>
+    <gazebo reference="${prefix}${fingerprefix}_inner_knuckle">
+      <material>Gazebo/Black</material>
+    </gazebo>
   </xacro:macro>
 
   <xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
@@ -122,6 +137,9 @@
         </geometry>
       </collision>
     </link>
+    <gazebo reference="${prefix}${fingerprefix}_inner_finger">
+      <material>Gazebo/Black</material>
+    </gazebo>
   </xacro:macro>
 
   <!-- Finger pad link, the default are the "big pads" with rubber-->

From b2172213fc30674315330f7ddf03809480dffa38 Mon Sep 17 00:00:00 2001
From: Alexandre Vannobel <avannobel@kinova.ca>
Date: Mon, 8 Jun 2020 19:35:22 -0400
Subject: [PATCH 3/3] Remove attempts parameter in moveit because it is
 deprecated

---
 .../config/kinematics.yaml                                      | 2 +-
 .../gen3_move_it_config/config/kinematics.yaml                  | 2 +-
 .../gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml   | 1 -
 .../gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml    | 1 -
 4 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml
index a1f17d08..3b90b6d0 100644
--- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml
@@ -2,4 +2,4 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
\ No newline at end of file
+  
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml
index a1f17d08..3b90b6d0 100644
--- a/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml
+++ b/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml
@@ -2,4 +2,4 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
\ No newline at end of file
+  
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml
index cce65093..46a23863 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml
@@ -2,4 +2,3 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml
index cce65093..46a23863 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml
@@ -2,4 +2,3 @@ arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3