Update mesh assets#57
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Pull request overview
This PR standardizes the pinch gripper “finger_outer” naming (fixing the previous “finger_outter” typo) across configuration and URDF files so mesh assets resolve consistently at runtime, and slightly simplifies the install-directory loop in CMake.
Changes:
- Updated URDF mesh filenames from
finger_outtertofinger_outerin both the example URDF and the generatedoutput.urdf. - Updated pinch gripper YAML configs (name mapping, visuals, collisions) to use
finger_outerandfinger_outer_joint. - Simplified
CMakeLists.txtinstall loop variable naming and removeddocsfrom the install list.
Reviewed changes
Copilot reviewed 6 out of 37 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
output.urdf |
Updates mesh references to finger_outer for collision/visual geometry. |
CMakeLists.txt |
Clarifies install loop naming and avoids attempting to install a non-existent docs dir. |
assets/robot/openarm_v2.0/urdf/example/v2.urdf |
Updates mesh references to finger_outer for collision/visual geometry. |
assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml |
Renames link/joint mapping entries to finger_outer / finger_outer_joint. |
assets/end_effector/pinch_gripper/config/link/visuals.yaml |
Points visual mesh to finger_outer.dae. |
assets/end_effector/pinch_gripper/config/link/collisions.yaml |
Points collision mesh to finger_outer.stl. |
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kou
reviewed
May 22, 2026
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Summary
This PR refreshes the OpenArm v2.0 and pinch gripper mesh assets. The main changes are improved collision meshes and corrected visual
.daecolor/material data so the robot description is more accurate in both simulation and visualization.Changes
base_linkandlink1throughlink6.link5.ee_base_link,finger_inner, andfinger_outer..daemesh color/material data for the arm and pinch gripper.finger_outervisual and collision mesh assets.finger_outterreferences withfinger_outerin gripper configs and generated URDF files.docsinstall entry.