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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10
robots/multi_arm/multi_arm.urdf.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="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)')}"