qlin/moonshot_franka_description
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added panda 4 arm description and fix mesh location

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qlin960618
2025-02-22 23:15:07 +09:00
parent 668c6520f3
commit 6251eac0e5
6 changed files with 7 additions and 7 deletions
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0
meshes/FrankaL.urdf.mtl → meshes/platform/FrankaL.mtl
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meshes/FrankaL.urdf.obj → meshes/platform/FrankaL.obj
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meshes/FrankaR.urdf.mtl → meshes/platform/FrankaR.mtl
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meshes/FrankaR.urdf.obj → meshes/platform/FrankaR.obj
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12
robots/moonshot_panda/moonshot_panda.urdf.xacro
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@@ -9,16 +9,16 @@
This argument is ignored. This argument is ignored.
--> -->
<!-- Define arguments --> <!-- 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: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 --> <!-- 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)}" /> <xacro:property name="xyz_list" value="${$(arg xyz_values)}" />
<!-- Define arguments --> <!-- 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)}" /> <xacro:property name="rpy_list" value="${$(arg rpy_values)}" />
<!-- Don't print a prefix for joints, visuals, and links? --> <!-- Don't print a prefix for joints, visuals, and links? -->
@@ -37,7 +37,7 @@
<xacro:arg name="ros2_control" default="false" /> <xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" --> <!-- 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)}" /> <xacro:property name="robot_ips_list" value="${$(arg robot_ips)}" />
<!-- Should a fake hardware be used? --> <!-- Should a fake hardware be used? -->
@@ -54,7 +54,7 @@
<!-- Prefixes for arm --> <!-- Prefixes for arm -->
<!-- TODO: check if the list size is correct --> <!-- 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)}" /> <xacro:property name="arm_prefixes_list" value="${$(arg arm_prefixes)}" />
<!-- For a multi arm setup, we need a threaded robot running async--> <!-- For a multi arm setup, we need a threaded robot running async-->

2
scripts/create_urdf.py
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@@ -81,7 +81,7 @@ if __name__ == "__main__":
print("Call the script from franka_description root folder") print("Call the script from franka_description root folder")
exit() exit()
ROBOTS = ["multi_arm", "fr3", "fp3", "fer"] ROBOTS = ["moonshot_panda", "multi_arm", "fr3", "fp3", "fer"]
END_EFFECTORS = ["none", "franka_hand", "cobot_pump"] END_EFFECTORS = ["none", "franka_hand", "cobot_pump"]