From 04485bfefc44718675aa6235d110b0bcdd6270fc Mon Sep 17 00:00:00 2001
From: qlin960618 <qlin1806@gmail.com>
Date: Sat, 22 Feb 2025 23:26:20 +0900
Subject: [PATCH] rename package to matching repo

---
 .docker/create_urdf.entrypoint.sh             |  4 ++--
 .docker/visualize_franka.entrypoint.sh        |  4 ++--
 CMakeLists.txt                                |  2 +-
 README.md                                     |  4 ++--
 .../cobot_pump/cobot_pump.urdf.xacro          |  8 +++----
 .../cobot_pump/cobot_pump_arguments.xacro     |  2 +-
 end_effectors/common/ee_with_one_link.xacro   |  2 +-
 end_effectors/common/franka_hand.xacro        |  2 +-
 end_effectors/common/utils.xacro              |  2 +-
 .../franka_hand/franka_hand.urdf.xacro        |  8 +++----
 .../franka_hand/franka_hand_arguments.xacro   |  2 +-
 launch/visualize_franka.launch.py             |  4 ++--
 package.xml                                   |  4 ++--
 robots/common/franka_arm.xacro                | 12 +++++-----
 robots/common/franka_robot.xacro              | 22 +++++++++----------
 robots/common/utils.xacro                     |  2 +-
 robots/fer/fer.urdf.xacro                     | 10 ++++-----
 robots/fp3/fp3.urdf.xacro                     | 10 ++++-----
 robots/fr3/fr3.urdf.xacro                     | 10 ++++-----
 .../moonshot_panda/moonshot_panda.urdf.xacro  | 10 ++++-----
 robots/multi_arm/multi_arm.urdf.xacro         | 10 ++++-----
 scripts/create_urdf.py                        |  6 ++---
 scripts/create_urdf.sh                        |  4 ++--
 scripts/visualize_franka.sh                   |  4 ++--
 test/urdf_tests.py                            |  2 +-
 25 files changed, 75 insertions(+), 75 deletions(-)

diff --git a/.docker/create_urdf.entrypoint.sh b/.docker/create_urdf.entrypoint.sh
index 1b95c03..814a13b 100755
--- a/.docker/create_urdf.entrypoint.sh
+++ b/.docker/create_urdf.entrypoint.sh
@@ -6,9 +6,9 @@ shift $#
 source /ros_entrypoint.sh
 
 cd /workspaces
-colcon build --packages-select franka_description > /dev/null
+colcon build --packages-select moonshot_franka_description > /dev/null
 source install/setup.bash
 
-cd src/franka_description
+cd src/moonshot_franka_description
 
 python3 scripts/create_urdf.py $args
\ No newline at end of file
diff --git a/.docker/visualize_franka.entrypoint.sh b/.docker/visualize_franka.entrypoint.sh
index 5d7ea27..8f18b92 100755
--- a/.docker/visualize_franka.entrypoint.sh
+++ b/.docker/visualize_franka.entrypoint.sh
@@ -4,7 +4,7 @@ args=$*
 shift $#
 
 cd /workspaces
-colcon build --packages-select franka_description > /dev/null
+colcon build --packages-select moonshot_franka_description > /dev/null
 source install/setup.bash
 
-ros2 launch franka_description visualize_franka.launch.py ${args}
\ No newline at end of file
+ros2 launch moonshot_franka_description visualize_franka.launch.py ${args}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 902771f..1e81e88 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@
 #  limitations under the License.
 
 cmake_minimum_required(VERSION 3.5)
-project(franka_description)
+project(moonshot_franka_description)
 find_package(ament_cmake REQUIRED)
 
 
diff --git a/README.md b/README.md
index 13e15fc..a9cafa8 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ The urdf generation is performed by the create_urdf.py script which offers sever
 ```
 usage: create_urdf.py [-h] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] [--no-prefix] robot_model
 
-Generate franka robots urdf models. Script to be executed from franka_description root folder!
+Generate franka robots urdf models. Script to be executed from moonshot_franka_description root folder!
 
 positional arguments:
   robot_model          id of the robot model (accepted values are: fr3, fp3, fer, multi_arm, none)
@@ -46,7 +46,7 @@ optional arguments:
 
 ### Visualize via ROS2
 
-`franka_description` is offered as a ROS2 package.
+`moonshot_franka_description` is offered as a ROS2 package.
 The urdf file can be visualized via RViz with the following command:
 
 ```
diff --git a/end_effectors/cobot_pump/cobot_pump.urdf.xacro b/end_effectors/cobot_pump/cobot_pump.urdf.xacro
index c3c1c78..5e84c94 100644
--- a/end_effectors/cobot_pump/cobot_pump.urdf.xacro
+++ b/end_effectors/cobot_pump/cobot_pump.urdf.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump">
-  <xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
-  <xacro:include filename="$(find franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
-  <xacro:include filename="$(find franka_description)/end_effectors/cobot_pump/cobot_pump_arguments.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/cobot_pump/cobot_pump_arguments.xacro"/>
 
   <xacro:ee_with_one_link connected_to="$(arg special_connection)"
                           arm_id="$(arg arm_id)"
                           ee_id="$(arg ee_id)"
-                          ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
+                          ee_inertials="${xacro.load_yaml('$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
                           rpy_ee="$(arg rpy_ee)"
                           xyz_ee="$(arg xyz_ee)"
                           tcp_xyz="$(arg tcp_xyz)"
diff --git a/end_effectors/cobot_pump/cobot_pump_arguments.xacro b/end_effectors/cobot_pump/cobot_pump_arguments.xacro
index 07e475b..04010de 100644
--- a/end_effectors/cobot_pump/cobot_pump_arguments.xacro
+++ b/end_effectors/cobot_pump/cobot_pump_arguments.xacro
@@ -32,6 +32,6 @@
   <xacro:arg name="gazebo" default="false" />
 
   <!-- Name of the description package -->
-  <xacro:arg name="description_pkg" default="franka_description" />
+  <xacro:arg name="description_pkg" default="moonshot_franka_description" />
 
 </robot>
\ No newline at end of file
diff --git a/end_effectors/common/ee_with_one_link.xacro b/end_effectors/common/ee_with_one_link.xacro
index 6b98037..16e8c40 100644
--- a/end_effectors/common/ee_with_one_link.xacro
+++ b/end_effectors/common/ee_with_one_link.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ee_with_one_link">
   <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
-  <xacro:macro name="ee_with_one_link" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false">
+  <xacro:macro name="ee_with_one_link" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=moonshot_franka_description with_sc:=false">
     <xacro:property name="ee_prefix" default="robot_"/>
     <xacro:unless value="${arm_id == ''}">
       <xacro:property name="ee_prefix" value="${arm_prefix}${arm_id}_" />
diff --git a/end_effectors/common/franka_hand.xacro b/end_effectors/common/franka_hand.xacro
index ab7e0c2..d9d0318 100644
--- a/end_effectors/common/franka_hand.xacro
+++ b/end_effectors/common/franka_hand.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
   <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
-  <xacro:macro name="franka_hand" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false">
+  <xacro:macro name="franka_hand" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=moonshot_franka_description with_sc:=false">
     <xacro:property name="ee_prefix" default="robot_"/>
     <xacro:unless value="${arm_id == ''}">
       <xacro:property name="ee_prefix" value="${arm_prefix}${arm_id}_" />
diff --git a/end_effectors/common/utils.xacro b/end_effectors/common/utils.xacro
index 5036bc5..6852a72 100644
--- a/end_effectors/common/utils.xacro
+++ b/end_effectors/common/utils.xacro
@@ -43,7 +43,7 @@
       </visual>
       <collision name="${prefix}${name}_collision">
         <geometry>
-          <mesh filename="package://franka_description/meshes/robot_ee/${ee_id}/collision/${name}.stl" />
+          <mesh filename="package://moonshot_franka_description/meshes/robot_ee/${ee_id}/collision/${name}.stl" />
         </geometry>
       </collision>
       <xacro:ee-inertials name="${name}" />
diff --git a/end_effectors/franka_hand/franka_hand.urdf.xacro b/end_effectors/franka_hand/franka_hand.urdf.xacro
index 165bba4..f7e2e63 100644
--- a/end_effectors/franka_hand/franka_hand.urdf.xacro
+++ b/end_effectors/franka_hand/franka_hand.urdf.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="franka_hand">
-  <xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
-  <xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/>
-  <xacro:include filename="$(find franka_description)/end_effectors/franka_hand/franka_hand_arguments.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/franka_hand.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/franka_hand/franka_hand_arguments.xacro"/>
 
   <xacro:franka_hand connected_to="$(arg special_connection)"
                      arm_id="$(arg arm_id)"
                      ee_id="$(arg ee_id)_$(arg ee_color)"
-                     ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
+                     ee_inertials="${xacro.load_yaml('$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
                      rpy_ee="$(arg rpy_ee)"
                      xyz_ee="$(arg xyz_ee)"
                      tcp_xyz="$(arg tcp_xyz)"
diff --git a/end_effectors/franka_hand/franka_hand_arguments.xacro b/end_effectors/franka_hand/franka_hand_arguments.xacro
index fd48aeb..86260a0 100644
--- a/end_effectors/franka_hand/franka_hand_arguments.xacro
+++ b/end_effectors/franka_hand/franka_hand_arguments.xacro
@@ -35,6 +35,6 @@
   <xacro:arg name="gazebo" default="false" />
 
   <!-- Name of the description package -->
-  <xacro:arg name="description_pkg" default="franka_description" />
+  <xacro:arg name="description_pkg" default="moonshot_franka_description" />
 
 </robot>
\ No newline at end of file
diff --git a/launch/visualize_franka.launch.py b/launch/visualize_franka.launch.py
index e4dc449..d7af992 100644
--- a/launch/visualize_franka.launch.py
+++ b/launch/visualize_franka.launch.py
@@ -28,7 +28,7 @@ def robot_state_publisher_spawner(context: LaunchContext, arm_id, load_gripper,
     load_gripper_str = context.perform_substitution(load_gripper)
     ee_id_str = context.perform_substitution(ee_id)
     franka_xacro_filepath = os.path.join(
-        get_package_share_directory("franka_description"),
+        get_package_share_directory("moonshot_franka_description"),
         "robots",
         arm_id_str,
         arm_id_str + ".urdf.xacro",
@@ -59,7 +59,7 @@ def generate_launch_description():
     arm_id = LaunchConfiguration(arm_id_parameter_name)
 
     rviz_file = os.path.join(
-        get_package_share_directory("franka_description"),
+        get_package_share_directory("moonshot_franka_description"),
         "rviz",
         "visualize_franka.rviz",
     )
diff --git a/package.xml b/package.xml
index 70c1f57..a5904a6 100644
--- a/package.xml
+++ b/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>franka_description</name>
+  <name>moonshot_franka_description</name>
   <version>0.4.0</version>
-  <description>franka_description contains URDF files and meshes of Franka robots</description>
+  <description>moonshot_franka_description contains URDF files and meshes of Franka robots</description>
   <maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
   <license>Apache 2.0</license>
   <author>Franka Robotics GmbH</author>
diff --git a/robots/common/franka_arm.xacro b/robots/common/franka_arm.xacro
index 129b903..0cce181 100644
--- a/robots/common/franka_arm.xacro
+++ b/robots/common/franka_arm.xacro
@@ -1,16 +1,16 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
 
-  <xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/utils.xacro" />
 
   <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
   <!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
-  <!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
-  <!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
-  <!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
-  <!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
+  <!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/joint_limits.yaml')} -->
+  <!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/kinematics.yaml')} -->
+  <!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/inertials.yaml')} -->
+  <!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/dynamics.yaml')} -->
 
-  <xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
+  <xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='moonshot_franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
 
     <!-- Define a property that defaults to 'arm_prefix_arm_id' concatenated with an underscore if 'no_prefix' is not set -->
     <xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />
diff --git a/robots/common/franka_robot.xacro b/robots/common/franka_robot.xacro
index cf17284..3c430c3 100644
--- a/robots/common/franka_robot.xacro
+++ b/robots/common/franka_robot.xacro
@@ -22,9 +22,9 @@
                       arm_prefix:=''
                       connected_to:='base'
                       multi_arm:=false">
-    <xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
+    <xacro:include filename="$(find moonshot_franka_description)/robots/common/utils.xacro" />
 
-    <xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
+    <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_arm.xacro" />
     <xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
     <xacro:franka_arm
       arm_id="${arm_id}"
@@ -43,9 +43,9 @@
     />
 
     <xacro:if value="${hand and ee_id == 'franka_hand'}">
-      <xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/>
-      <xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
-      <xacro:include filename="$(find franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/franka_hand.xacro"/>
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
       <xacro:if value="${arm_id == 'fp3'}">
         <xacro:property name="ee_color" value="black" />
       </xacro:if>
@@ -59,7 +59,7 @@
         arm_id="${arm_id}"
         arm_prefix="${arm_prefix_modified}"
         ee_id="${ee_id}_${ee_color}"
-        ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
+        ee_inertials="${xacro.load_yaml('$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
         rpy_ee="$(arg rpy_ee)"
         xyz_ee="$(arg xyz_ee)"
         tcp_xyz="$(arg tcp_xyz)"
@@ -72,9 +72,9 @@
     </xacro:if>
 
     <xacro:if value="${hand and ee_id != 'none' and ee_id != 'franka_hand'}">
-      <xacro:include filename="$(find franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
-      <xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
-      <xacro:include filename="$(find franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
+      <xacro:include filename="$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
       <xacro:property name="special_connection" value="$(arg special_connection)" />
       <xacro:property name="connection" value="${special_connection if special_connection == '' else arm_id + '_link8'}" />
       <xacro:ee_with_one_link
@@ -82,7 +82,7 @@
         arm_id="${arm_id}"
         arm_prefix="${arm_prefix_modified}"
         ee_id="${ee_id}"
-        ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
+        ee_inertials="${xacro.load_yaml('$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
         rpy_ee="$(arg rpy_ee)"
         xyz_ee="$(arg xyz_ee)"
         tcp_xyz="$(arg tcp_xyz)"
@@ -149,7 +149,7 @@
     </xacro:if>
 
     <xacro:if value="${ros2_control}">
-      <xacro:include filename="$(find franka_description)/robots/common/franka_arm.ros2_control.xacro"/>
+      <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_arm.ros2_control.xacro"/>
       <xacro:franka_arm_ros2_control
           arm_id="${arm_id}"
           robot_ip="${robot_ip}"
diff --git a/robots/common/utils.xacro b/robots/common/utils.xacro
index 68e8753..b24df25 100644
--- a/robots/common/utils.xacro
+++ b/robots/common/utils.xacro
@@ -44,7 +44,7 @@
       </visual>
       <collision name="${prefix}${name}_collision">
         <geometry>
-          <mesh filename="package://franka_description/meshes/robot_arms/${arm_id}/collision/${name}.stl" />
+          <mesh filename="package://moonshot_franka_description/meshes/robot_arms/${arm_id}/collision/${name}.stl" />
         </geometry>
       </collision>
       <xacro:franka-inertials name="${name}" />
diff --git a/robots/fer/fer.urdf.xacro b/robots/fer/fer.urdf.xacro
index f311c28..257813f 100644
--- a/robots/fer/fer.urdf.xacro
+++ b/robots/fer/fer.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
 
-  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
   <!--
     DEPRECATION NOTICE
@@ -46,10 +46,10 @@
   <xacro:arg name="multi_arm" default="false" />
 
   <xacro:franka_robot arm_id="fer"
-                      joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fer/joint_limits.yaml')}"
-                      inertials="${xacro.load_yaml('$(find franka_description)/robots/fer/inertials.yaml')}"
-                      kinematics="${xacro.load_yaml('$(find franka_description)/robots/fer/kinematics.yaml')}"
-                      dynamics="${xacro.load_yaml('$(find franka_description)/robots/fer/dynamics.yaml')}"
+                      joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/joint_limits.yaml')}"
+                      inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/inertials.yaml')}"
+                      kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/kinematics.yaml')}"
+                      dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/dynamics.yaml')}"
                       gazebo="$(arg gazebo)"
                       hand="$(arg hand)"
                       ee_id="$(arg ee_id)"
diff --git a/robots/fp3/fp3.urdf.xacro b/robots/fp3/fp3.urdf.xacro
index 8f25039..8da0404 100644
--- a/robots/fp3/fp3.urdf.xacro
+++ b/robots/fp3/fp3.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fp3">
 
-  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
   <!--
     DEPRECATION NOTICE
@@ -44,10 +44,10 @@
   <xacro:arg name="multi_arm" default="false" />
 
   <xacro:franka_robot arm_id="fp3"
-                      joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fp3/joint_limits.yaml')}"
-                      inertials="${xacro.load_yaml('$(find franka_description)/robots/fp3/inertials.yaml')}"
-                      kinematics="${xacro.load_yaml('$(find franka_description)/robots/fp3/kinematics.yaml')}"
-                      dynamics="${xacro.load_yaml('$(find franka_description)/robots/fp3/dynamics.yaml')}"
+                      joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/joint_limits.yaml')}"
+                      inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/inertials.yaml')}"
+                      kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/kinematics.yaml')}"
+                      dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/dynamics.yaml')}"
                       gazebo="$(arg gazebo)"
                       hand="$(arg hand)"
                       ee_id="$(arg ee_id)"
diff --git a/robots/fr3/fr3.urdf.xacro b/robots/fr3/fr3.urdf.xacro
index 11228ea..d21248b 100644
--- a/robots/fr3/fr3.urdf.xacro
+++ b/robots/fr3/fr3.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fr3">
 
-  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
   <!--
     DEPRECATION NOTICE
@@ -44,10 +44,10 @@
   <xacro:arg name="multi_arm" default="false" />
 
   <xacro:franka_robot arm_id="fr3"
-                      joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}"
-                      inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}"
-                      kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}"
-                      dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}"
+                      joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/joint_limits.yaml')}"
+                      inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/inertials.yaml')}"
+                      kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/kinematics.yaml')}"
+                      dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/dynamics.yaml')}"
                       gazebo="$(arg gazebo)"
                       hand="$(arg hand)"
                       ee_id="$(arg ee_id)"
diff --git a/robots/moonshot_panda/moonshot_panda.urdf.xacro b/robots/moonshot_panda/moonshot_panda.urdf.xacro
index 42278f3..9d1f6c1 100644
--- a/robots/moonshot_panda/moonshot_panda.urdf.xacro
+++ b/robots/moonshot_panda/moonshot_panda.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm">
 
-  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
   <!--
     DEPRECATION NOTICE
@@ -72,10 +72,10 @@
         <origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/>
       </joint>
       <xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/>
-      <xacro:arg name="inertials_path" default="$(find franka_description)/robots/${arm_id_i}/inertials.yaml"/>
-      <xacro:arg name="kinematics_path" default="$(find franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
-      <xacro:arg name="dynamics_path" default="$(find franka_description)/robots/${arm_id_i}/dynamics.yaml"/>
-      <xacro:arg name="joint_limits_path" default="$(find franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
+      <xacro:arg name="inertials_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/inertials.yaml"/>
+      <xacro:arg name="kinematics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
+      <xacro:arg name="dynamics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/dynamics.yaml"/>
+      <xacro:arg name="joint_limits_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
       <xacro:franka_robot arm_id="${arm_id_i}"
                           joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}"
                           inertials="${xacro.load_yaml('$(arg inertials_path)')}"
diff --git a/robots/multi_arm/multi_arm.urdf.xacro b/robots/multi_arm/multi_arm.urdf.xacro
index 7f5098f..bc3a44f 100644
--- a/robots/multi_arm/multi_arm.urdf.xacro
+++ b/robots/multi_arm/multi_arm.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm">
 
-  <xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
+  <xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
 
   <!--
     DEPRECATION NOTICE
@@ -72,10 +72,10 @@
         <origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/>
       </joint>
       <xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/>
-      <xacro:arg name="inertials_path" default="$(find franka_description)/robots/${arm_id_i}/inertials.yaml"/>
-      <xacro:arg name="kinematics_path" default="$(find franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
-      <xacro:arg name="dynamics_path" default="$(find franka_description)/robots/${arm_id_i}/dynamics.yaml"/>
-      <xacro:arg name="joint_limits_path" default="$(find franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
+      <xacro:arg name="inertials_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/inertials.yaml"/>
+      <xacro:arg name="kinematics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
+      <xacro:arg name="dynamics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/dynamics.yaml"/>
+      <xacro:arg name="joint_limits_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
       <xacro:franka_robot arm_id="${arm_id_i}"
                           joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}"
                           inertials="${xacro.load_yaml('$(arg inertials_path)')}"
diff --git a/scripts/create_urdf.py b/scripts/create_urdf.py
index 7dbbe4d..d988a22 100644
--- a/scripts/create_urdf.py
+++ b/scripts/create_urdf.py
@@ -75,10 +75,10 @@ def save_urdf_to_file(package_path, urdf_file, robot):
 
 
 if __name__ == "__main__":
-    package_name = "franka_description"
+    package_name = "moonshot_franka_description"
 
     if os.getcwd().split("/")[-1] != package_name:
-        print("Call the script from franka_description root folder")
+        print("Call the script from moonshot_franka_description root folder")
         exit()
 
     ROBOTS = ["moonshot_panda", "multi_arm", "fr3", "fp3", "fer"]
@@ -88,7 +88,7 @@ if __name__ == "__main__":
     parser = argparse.ArgumentParser(
         description="""
             Generate franka robots urdf models.
-            Script to be executed from franka_description root folder!
+            Script to be executed from moonshot_franka_description root folder!
             """
     )
 
diff --git a/scripts/create_urdf.sh b/scripts/create_urdf.sh
index e529bec..b8ec3d8 100755
--- a/scripts/create_urdf.sh
+++ b/scripts/create_urdf.sh
@@ -8,7 +8,7 @@ sudo docker build -t urdf_creation \
 echo 
 
 sudo docker run -u $(id -u) \
-    -v $(pwd):/workspaces/src/franka_description \
-    -w /workspaces/src/franka_description \
+    -v $(pwd):/workspaces/src/moonshot_franka_description \
+    -w /workspaces/src/moonshot_franka_description \
     urdf_creation \
     .docker/create_urdf.entrypoint.sh $*
diff --git a/scripts/visualize_franka.sh b/scripts/visualize_franka.sh
index a401d1e..3184af8 100755
--- a/scripts/visualize_franka.sh
+++ b/scripts/visualize_franka.sh
@@ -10,7 +10,7 @@ echo
 sudo docker run -it -u $(id -u) \
     --privileged \
     -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \
-    -v $(pwd):/workspaces/src/franka_description \
-    -w /workspaces/src/franka_description \
+    -v $(pwd):/workspaces/src/moonshot_franka_description \
+    -w /workspaces/src/moonshot_franka_description \
     urdf_creation \
     .docker/visualize_franka.entrypoint.sh $*
\ No newline at end of file
diff --git a/test/urdf_tests.py b/test/urdf_tests.py
index b177905..246e4c7 100644
--- a/test/urdf_tests.py
+++ b/test/urdf_tests.py
@@ -20,7 +20,7 @@ from ament_index_python.packages import get_package_share_directory
 arm_id_ = "fer"
 
 xacro_file_name = path.join(
-    get_package_share_directory("franka_description"),
+    get_package_share_directory("moonshot_franka_description"),
     "robots",
     arm_id_,
     arm_id_ + ".urdf.xacro",