From 6251eac0e5a7615f913f14cad2d773d13b87a59e Mon Sep 17 00:00:00 2001
From: qlin960618 <qlin1806@gmail.com>
Date: Sat, 22 Feb 2025 23:15:07 +0900
Subject: [PATCH] added panda 4 arm description and fix mesh location

---
 meshes/{FrankaL.urdf.mtl => platform/FrankaL.mtl} |  0
 meshes/{FrankaL.urdf.obj => platform/FrankaL.obj} |  0
 meshes/{FrankaR.urdf.mtl => platform/FrankaR.mtl} |  0
 meshes/{FrankaR.urdf.obj => platform/FrankaR.obj} |  0
 robots/moonshot_panda/moonshot_panda.urdf.xacro   | 12 ++++++------
 scripts/create_urdf.py                            |  2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)
 rename meshes/{FrankaL.urdf.mtl => platform/FrankaL.mtl} (100%)
 rename meshes/{FrankaL.urdf.obj => platform/FrankaL.obj} (100%)
 rename meshes/{FrankaR.urdf.mtl => platform/FrankaR.mtl} (100%)
 rename meshes/{FrankaR.urdf.obj => platform/FrankaR.obj} (100%)

diff --git a/meshes/FrankaL.urdf.mtl b/meshes/platform/FrankaL.mtl
similarity index 100%
rename from meshes/FrankaL.urdf.mtl
rename to meshes/platform/FrankaL.mtl
diff --git a/meshes/FrankaL.urdf.obj b/meshes/platform/FrankaL.obj
similarity index 100%
rename from meshes/FrankaL.urdf.obj
rename to meshes/platform/FrankaL.obj
diff --git a/meshes/FrankaR.urdf.mtl b/meshes/platform/FrankaR.mtl
similarity index 100%
rename from meshes/FrankaR.urdf.mtl
rename to meshes/platform/FrankaR.mtl
diff --git a/meshes/FrankaR.urdf.obj b/meshes/platform/FrankaR.obj
similarity index 100%
rename from meshes/FrankaR.urdf.obj
rename to meshes/platform/FrankaR.obj
diff --git a/robots/moonshot_panda/moonshot_panda.urdf.xacro b/robots/moonshot_panda/moonshot_panda.urdf.xacro
index 7f5098f..42278f3 100644
--- a/robots/moonshot_panda/moonshot_panda.urdf.xacro
+++ b/robots/moonshot_panda/moonshot_panda.urdf.xacro
@@ -9,16 +9,16 @@
     This argument is ignored.
   -->
   <!-- Define arguments -->
-  <xacro:arg name="arm_ids" default="['fr3','fr3']" />
+  <xacro:arg name="arm_ids" default="['fr3','fr3','fr3','fr3']" />
   <xacro:property name="arm_ids_list" value="${$(arg arm_ids)}" />
-  <xacro:arg name="number_of_robots" default = "2"/>
+  <xacro:arg name="number_of_robots" default = "4"/>
 
   <!-- Define arguments -->
-  <xacro:arg name="xyz_values" default="['0 0.1 0','0 -0.1 0']" />
+  <xacro:arg name="xyz_values" default="['0.55237 -0.55237 0.79023','0.55237 0.55237 0.79023','-0.55237 0.55237 0.79023','-0.55237 -0.55237 0.79023']" />
   <xacro:property name="xyz_list" value="${$(arg xyz_values)}" />
 
   <!-- Define arguments -->
-  <xacro:arg name="rpy_values" default="['-0.7 0 0','0.7 0 0']" />
+  <xacro:arg name="rpy_values" default="['0 0 2.35619','0 0 -2.35619','0 0 -0.785398','0 0 0.785398']" />
   <xacro:property name="rpy_list" value="${$(arg rpy_values)}" />
 
   <!-- Don't print a prefix for joints, visuals, and links? -->
@@ -37,7 +37,7 @@
   <xacro:arg name="ros2_control" default="false" />
 
   <!-- IP address or hostname of the robot" -->
-  <xacro:arg name="robot_ips" default="['172.16.0.2','172.16.0.3']" />
+  <xacro:arg name="robot_ips" default="['172.16.0.2','172.16.0.3','172.16.0.4','172.16.0.5']" />
   <xacro:property name="robot_ips_list" value="${$(arg robot_ips)}" />
 
   <!-- Should a fake hardware be used? -->
@@ -54,7 +54,7 @@
 
   <!-- Prefixes for arm -->
   <!-- TODO: check if the list size is correct -->
-  <xacro:arg name="arm_prefixes" default="['left','right']" />
+  <xacro:arg name="arm_prefixes" default="['franka1','franka2','franka3','franka4']" />
   <xacro:property name="arm_prefixes_list" value="${$(arg arm_prefixes)}" />
 
   <!-- For a multi arm setup, we need a threaded robot running async-->
diff --git a/scripts/create_urdf.py b/scripts/create_urdf.py
index 02b2155..7dbbe4d 100644
--- a/scripts/create_urdf.py
+++ b/scripts/create_urdf.py
@@ -81,7 +81,7 @@ if __name__ == "__main__":
         print("Call the script from franka_description root folder")
         exit()
 
-    ROBOTS = ["multi_arm", "fr3", "fp3", "fer"]
+    ROBOTS = ["moonshot_panda", "multi_arm", "fr3", "fp3", "fer"]
 
     END_EFFECTORS = ["none", "franka_hand", "cobot_pump"]