[urdf] Remove some oddities noticed by schema checking (RobotLocomoti…

…on#20612) The removed bits are ignored, but not complained about, by the current parser. Schema checking (still in development) noticed the problems.
Sreevis · Nov 30, 2023 · ac383c3 · ac383c3
1 parent fa2f4a3
commit ac383c3
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Showing 3 changed files with 1 addition and 3 deletions.
diff --git a/examples/kuka_iiwa_arm/models/objects/block_for_pick_and_place_mid_size.urdf b/examples/kuka_iiwa_arm/models/objects/block_for_pick_and_place_mid_size.urdf
@@ -62,7 +62,7 @@
         <sphere radius="1e-7"/>
       </geometry>
     </collision>
-    <collision><origin xyz="-0.03 0.0375 0.1" rpy="0 0 0"/><geometry><sphere radius="1e-7"/></geometry>d
+    <collision><origin xyz="-0.03 0.0375 0.1" rpy="0 0 0"/><geometry><sphere radius="1e-7"/></geometry>
     </collision>
     <collision>
       <origin xyz="0.03 0.0375 0.1" rpy="0 0 0"/>

diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
@@ -28,7 +28,6 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_left">
   <!-- Base link -->
   <link name="hand_root">
-    <origin xyz="0 0 0"/>
   </link>
   <joint name="root_to_base" type="fixed">
     <parent link="hand_root"/>

diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
@@ -28,7 +28,6 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right">
   <!-- Base link -->
   <link name="hand_root">
-    <origin xyz="0 0 0"/>
   </link>
   <joint name="root_to_base" type="fixed">
     <parent link="hand_root"/>