{"action":"created","comment":{"url":"https://api.github.com/repos/ipa320/cob_common/pulls/comments/212362937","pull_request_review_id":148973953,"id":212362937,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIxMjM2MjkzNw==","diff_hunk":"@@ -0,0 +1,111 @@\n+<?xml version=\"1.0\"?>\n+<robot xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n+\n+  <xacro:include filename=\"$(find cob_description)/urdf/common.xacro\"/>\n+  <xacro:include filename=\"$(find raw_description)/urdf/schmaltz_gripper/gripper.gazebo.xacro\" />\n+\n+  <xacro:property name=\"gripper_length\" value=\"0.22\"/>\n+  <xacro:property name=\"gripper_dia\" value=\"0.07\"/>\n+  <xacro:property name=\"gripper_collision_value\" value=\"0.01\"/>\n+\n+  <xacro:macro name=\"vacuum_gripper\" params=\"name parent *origin\">\n+\n+    <!-- joint between arm_ee_link and vacuum_gripper_link -->\n+    <joint name=\"${name}_base_joint\" type=\"fixed\">\n+        <xacro:insert_block name=\"origin\"/>\n+        <parent link=\"${parent}\"/>\n+        <child link=\"${name}_frame\"/>\n+    </joint>\n+\n+    <link name=\"${name}_frame\"/>\n+\n+    <!-- couplink joint between ee_link and gripper -->\n+    <joint name=\"${name}_coupling_joint\" type=\"fixed\">\n+        <parent link=\"${name}_frame\"/>\n+        <child link=\"${name}_coupling_link\"/>\n+        <origin xyz=\" 0.0 0.0 0.0\" rpy=\"0 1.57079632679 0\"/>\n+    </joint>\n+\n+    <link name=\"${name}_coupling_link\">\n+       <inertial>\n+       <!--choose randomly-->\n+        <origin xyz=\"0 0 0\" rpy=\"0.0 0 0.0\"/>\n+        <mass value=\"0.0057307\"/>\n+        <inertia ixx=\"0.819\" ixy=\"0\" ixz=\"0\" iyy=\"0.819\" iyz=\"0\" izz=\"0.819\" />\n+      </inertial>\n+\n+        <visual>\n+            <origin xyz=\"0.0 0 0.0\" rpy=\"0.0 0 0\"/>\n+            <geometry>\n+                <cylinder radius=\"${gripper_dia*0.5}\" length=\"0.030\"/>\n+            </geometry>\n+            <material name=\"silver\">\n+                <color rgba=\"0.8 0.8 0.8 1\"/>\n+            </material>\n+        </visual>\n+        <collision>\n+                <!-- move gripper_body frame to center of gripper and rotate same as arm_ee_link -->\n+            <origin xyz=\"0.030 0.00 0.00\" rpy=\"0 0 0.0\"/>\n+            <geometry>\n+                <cylinder radius=\"${gripper_dia + gripper_collision_value}\" length=\"0.04\"/>\n+            </geometry>\n+        </collision>\n+    </link>\n+\n+    <joint name=\"gripper_to_palm\" type=\"fixed\">\n+        <parent link=\"${name}_coupling_link\"/>\n+        <child link=\"${name}_body\"/>\n+        <!-- yaw rotation used for rotate gripper or display of gripper upside or roll gripper -->\n+        <origin xyz=\"0.0 0.0 0.00\" rpy=\"0.0 0.0 1.57079632679\"/>\n+    </joint>\n+\n+    <link name=\"${name}_body\">\n+       <inertial>\n+       <!--choose randomly-->\n+        <origin xyz=\"0 0 0\" rpy=\"0.0 0 0.0\"/>\n+        <mass value=\"0.57307\"/>\n+        <inertia ixx=\"0.819\" ixy=\"0\" ixz=\"0\" iyy=\"0.819\" iyz=\"0\" izz=\"0.819\" />\n+      </inertial>\n+    \n+        <visual>\n+            <origin xyz=\"0.0 0 0.0\" rpy=\"0 0 0\"/>\n+            <geometry>\n+                <mesh filename=\"package://raw_description/meshes/schmaltz_gripper/schmaltz_gripper.STL\" scale=\"0.001 0.001 0.001\"/>","path":"raw_description/urdf/schmaltz_gripper/gripper.urdf.xacro","position":73,"original_position":73,"commit_id":"bba785511edf434bc2cea974f5b6ee49113267de","original_commit_id":"bba785511edf434bc2cea974f5b6ee49113267de","user":{"login":"fmessmer","id":508006,"node_id":"MDQ6VXNlcjUwODAwNg==","avatar_url":"https://avatars2.githubusercontent.com/u/508006?v=4","gravatar_id":"","url":"https://api.github.com/users/fmessmer","html_url":"https://github.com/fmessmer","followers_url":"https://api.github.com/users/fmessmer/followers","following_url":"https://api.github.com/users/fmessmer/following{/other_user}","gists_url":"https://api.github.com/users/fmessmer/gists{/gist_id}","starred_url":"https://api.github.com/users/fmessmer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fmessmer/subscriptions","organizations_url":"https://api.github.com/users/fmessmer/orgs","repos_url":"https://api.github.com/users/fmessmer/repos","events_url":"https://api.github.com/users/fmessmer/events{/privacy}","received_events_url":"https://api.github.com/users/fmessmer/received_events","type":"User","site_admin":false},"body":"the mesh is still quite large!!! 3.88MB....please simplify!\r\nplease apply the scale to the mesh directly rather than using the scale parameters...use e.g. Blender\r\n(we also use `stl` instead of `STL`...also, make sure it's binary format )","created_at":"2018-08-23T15:52:19Z","updated_at":"2018-08-23T15:54:11Z","html_url":"https://github.com/ipa320/cob_common/pull/255#discussion_r212362937","pull_request_url":"https://api.github.com/repos/ipa320/cob_common/pulls/255","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/ipa320/cob_common/pulls/comments/212362937"},"html":{"href":"https://github.com/ipa320/cob_common/pull/255#discussion_r212362937"},"pull_request":{"href":"https://api.github.com/repos/ipa320/cob_common/pulls/255"}}},"pull_request":{"url":"https://api.github.com/repos/ipa320/cob_common/pulls/255","id":204471562,"node_id":"MDExOlB1bGxSZXF1ZXN0MjA0NDcxNTYy","html_url":"https://github.com/ipa320/cob_common/pull/255","diff_url":"https://github.com/ipa320/cob_common/pull/255.diff","patch_url":"https://github.com/ipa320/cob_common/pull/255.patch","issue_url":"https://api.github.com/repos/ipa320/cob_common/issues/255","number":255,"state":"open","locked":false,"title":"Schmalz 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\r\n","created_at":"2018-07-27T15:51:49Z","updated_at":"2018-08-23T15:54:11Z","closed_at":null,"merged_at":null,"merge_commit_sha":"57eb60ec1fcdb42963e68c1004a50de59b32891e","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ipa320/cob_common/pulls/255/commits","review_comments_url":"https://api.github.com/repos/ipa320/cob_common/pulls/255/comments","review_comment_url":"https://api.github.com/repos/ipa320/cob_common/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ipa320/cob_common/issues/255/comments","statuses_url":"https://api.github.com/repos/ipa320/cob_common/statuses/bba785511edf434bc2cea974f5b6ee49113267de","head":{"label":"ipa-mjp:schmalz_gripper","ref":"schmalz_gripper","sha":"bba785511edf434bc2cea974f5b6ee49113267de","user":{"login":"ipa-mjp","id":28396588,"node_id":"MDQ6VXNlcjI4Mzk2NTg4","avatar_url":"https://avatars2.githubusercontent.com/u/28396588?v=4","gravatar_id":"","url":"https://api.github.com/users/ipa-mjp","html_url":"https://github.com/ipa-mjp","followers_url":"https://api.github.com/users/ipa-mjp/followers","following_url":"https://api.github.com/users/ipa-mjp/following{/other_user}","gists_url":"https://api.github.com/users/ipa-mjp/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-mjp/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-mjp/subscriptions","organizations_url":"https://api.github.com/users/ipa-mjp/orgs","repos_url":"https://api.github.com/users/ipa-mjp/repos","events_url":"https://api.github.com/users/ipa-mjp/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-mjp/received_events","type":"User","site_admin":false},"repo":{"id":93029637,"node_id":"MDEwOlJlcG9zaXRvcnk5MzAyOTYzNw==","name":"cob_common","full_name":"ipa-mjp/cob_common","owner":{"login":"ipa-mjp","id":28396588,"node_id":"MDQ6VXNlcjI4Mzk2NTg4","avatar_url":"https://avatars2.githubusercontent.com/u/28396588?v=4","gravatar_id":"","url":"https://api.github.com/users/ipa-mjp","html_url":"https://github.com/ipa-mjp","followers_url":"https://api.github.com/users/ipa-mjp/followers","following_url":"https://api.github.com/users/ipa-mjp/following{/other_user}","gists_url":"https://api.github.com/users/ipa-mjp/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-mjp/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-mjp/subscriptions","organizations_url":"https://api.github.com/users/ipa-mjp/orgs","repos_url":"https://api.github.com/users/ipa-mjp/repos","events_url":"https://api.github.com/users/ipa-mjp/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-mjp/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/ipa-mjp/cob_common","description":"The 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