qlin/moonshot_franka_description
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rename package to matching repo

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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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12
robots/common/franka_arm.xacro
View File

@@ -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 + '_'}" />

22
robots/common/franka_robot.xacro
View File

@@ -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}"

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