qlin/moonshot_franka_description
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rename package to matching repo

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This commit is contained in:
qlin960618
2025-02-22 23:26:20 +09:00
parent 33316ed937
commit 04485bfefc
25 changed files with 75 additions and 75 deletions
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8
end_effectors/cobot_pump/cobot_pump.urdf.xacro
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@@ -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)"

2
end_effectors/cobot_pump/cobot_pump_arguments.xacro
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@@ -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>

2
end_effectors/common/ee_with_one_link.xacro
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@@ -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}_" />

2
end_effectors/common/franka_hand.xacro
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@@ -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}_" />

2
end_effectors/common/utils.xacro
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@@ -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}" />

8
end_effectors/franka_hand/franka_hand.urdf.xacro
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@@ -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)"

2
end_effectors/franka_hand/franka_hand_arguments.xacro
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@@ -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>