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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4
.docker/create_urdf.entrypoint.sh
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@@ -6,9 +6,9 @@ shift $#
source /ros_entrypoint.sh source /ros_entrypoint.sh
cd /workspaces cd /workspaces
colcon build --packages-select franka_description > /dev/null colcon build --packages-select moonshot_franka_description > /dev/null
source install/setup.bash source install/setup.bash
cd src/franka_description cd src/moonshot_franka_description
python3 scripts/create_urdf.py $args python3 scripts/create_urdf.py $args

4
.docker/visualize_franka.entrypoint.sh
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@@ -4,7 +4,7 @@ args=$*
shift $# shift $#
cd /workspaces cd /workspaces
colcon build --packages-select franka_description > /dev/null colcon build --packages-select moonshot_franka_description > /dev/null
source install/setup.bash source install/setup.bash
ros2 launch franka_description visualize_franka.launch.py ${args} ros2 launch moonshot_franka_description visualize_franka.launch.py ${args}

2
CMakeLists.txt
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@@ -13,7 +13,7 @@
# limitations under the License. # limitations under the License.
cmake_minimum_required(VERSION 3.5) cmake_minimum_required(VERSION 3.5)
project(franka_description) project(moonshot_franka_description)
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)

4
README.md
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@@ -28,7 +28,7 @@ The urdf generation is performed by the create_urdf.py script which offers sever
``` ```
usage: create_urdf.py [-h] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] [--no-prefix] robot_model usage: create_urdf.py [-h] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] [--no-prefix] robot_model
Generate franka robots urdf models. Script to be executed from franka_description root folder! Generate franka robots urdf models. Script to be executed from moonshot_franka_description root folder!
positional arguments: positional arguments:
robot_model id of the robot model (accepted values are: fr3, fp3, fer, multi_arm, none) robot_model id of the robot model (accepted values are: fr3, fp3, fer, multi_arm, none)
@@ -46,7 +46,7 @@ optional arguments:
### Visualize via ROS2 ### Visualize via ROS2
`franka_description` is offered as a ROS2 package. `moonshot_franka_description` is offered as a ROS2 package.
The urdf file can be visualized via RViz with the following command: The urdf file can be visualized via RViz with the following command:
``` ```

8
end_effectors/cobot_pump/cobot_pump.urdf.xacro
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@@ -1,13 +1,13 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump"> <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 moonshot_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 moonshot_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/cobot_pump/cobot_pump_arguments.xacro"/>
<xacro:ee_with_one_link connected_to="$(arg special_connection)" <xacro:ee_with_one_link connected_to="$(arg special_connection)"
arm_id="$(arg arm_id)" arm_id="$(arg arm_id)"
ee_id="$(arg ee_id)" ee_id="$(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="$(arg rpy_ee)" rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)" xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)" tcp_xyz="$(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" /> <xacro:arg name="gazebo" default="false" />
<!-- Name of the description package --> <!-- Name of the description package -->
<xacro:arg name="description_pkg" default="franka_description" /> <xacro:arg name="description_pkg" default="moonshot_franka_description" />
</robot> </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"?> <?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ee_with_one_link"> <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 --> <!-- 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:property name="ee_prefix" default="robot_"/>
<xacro:unless value="${arm_id == ''}"> <xacro:unless value="${arm_id == ''}">
<xacro:property name="ee_prefix" value="${arm_prefix}${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"?> <?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand"> <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 --> <!-- 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:property name="ee_prefix" default="robot_"/>
<xacro:unless value="${arm_id == ''}"> <xacro:unless value="${arm_id == ''}">
<xacro:property name="ee_prefix" value="${arm_prefix}${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> </visual>
<collision name="${prefix}${name}_collision"> <collision name="${prefix}${name}_collision">
<geometry> <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> </geometry>
</collision> </collision>
<xacro:ee-inertials name="${name}" /> <xacro:ee-inertials name="${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"?> <?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="franka_hand"> <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 moonshot_franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/> <xacro:include filename="$(find moonshot_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/franka_hand/franka_hand_arguments.xacro"/>
<xacro:franka_hand connected_to="$(arg special_connection)" <xacro:franka_hand connected_to="$(arg special_connection)"
arm_id="$(arg arm_id)" arm_id="$(arg arm_id)"
ee_id="$(arg ee_id)_$(arg ee_color)" 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="$(arg rpy_ee)" rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)" xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)" tcp_xyz="$(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" /> <xacro:arg name="gazebo" default="false" />
<!-- Name of the description package --> <!-- Name of the description package -->
<xacro:arg name="description_pkg" default="franka_description" /> <xacro:arg name="description_pkg" default="moonshot_franka_description" />
</robot> </robot>

4
launch/visualize_franka.launch.py
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@@ -28,7 +28,7 @@ def robot_state_publisher_spawner(context: LaunchContext, arm_id, load_gripper,
load_gripper_str = context.perform_substitution(load_gripper) load_gripper_str = context.perform_substitution(load_gripper)
ee_id_str = context.perform_substitution(ee_id) ee_id_str = context.perform_substitution(ee_id)
franka_xacro_filepath = os.path.join( franka_xacro_filepath = os.path.join(
get_package_share_directory("franka_description"), get_package_share_directory("moonshot_franka_description"),
"robots", "robots",
arm_id_str, arm_id_str,
arm_id_str + ".urdf.xacro", arm_id_str + ".urdf.xacro",
@@ -59,7 +59,7 @@ def generate_launch_description():
arm_id = LaunchConfiguration(arm_id_parameter_name) arm_id = LaunchConfiguration(arm_id_parameter_name)
rviz_file = os.path.join( rviz_file = os.path.join(
get_package_share_directory("franka_description"), get_package_share_directory("moonshot_franka_description"),
"rviz", "rviz",
"visualize_franka.rviz", "visualize_franka.rviz",
) )

4
package.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>franka_description</name> <name>moonshot_franka_description</name>
<version>0.4.0</version> <version>0.4.0</version>
<description>franka_description contains URDF files and meshes of Franka robots</description> <description>moonshot_franka_description contains URDF files and meshes of Franka robots</description>
<maintainer email="support@franka.de">Franka Robotics GmbH</maintainer> <maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<author>Franka Robotics GmbH</author> <author>Franka Robotics GmbH</author>

12
robots/common/franka_arm.xacro
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@@ -1,16 +1,16 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer"> <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 --> <!-- 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. --> <!-- 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')} --> <!-- 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 franka_description)/robots/fr3/kinematics.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 franka_description)/robots/fr3/inertials.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 franka_description)/robots/fr3/dynamics.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 --> <!-- 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="${'' if no_prefix else arm_prefix + arm_id + '_'}" /> <xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />

22
robots/common/franka_robot.xacro
View File

@@ -22,9 +22,9 @@
arm_prefix:='' arm_prefix:=''
connected_to:='base' connected_to:='base'
multi_arm:=false"> 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="${'' if arm_prefix == '' else arm_prefix + '_'}" /> <xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<xacro:franka_arm <xacro:franka_arm
arm_id="${arm_id}" arm_id="${arm_id}"
@@ -43,9 +43,9 @@
/> />
<xacro:if value="${hand and ee_id == 'franka_hand'}"> <xacro:if value="${hand and ee_id == 'franka_hand'}">
<xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/> <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/franka_hand.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" /> <xacro:include filename="$(find moonshot_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/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
<xacro:if value="${arm_id == 'fp3'}"> <xacro:if value="${arm_id == 'fp3'}">
<xacro:property name="ee_color" value="black" /> <xacro:property name="ee_color" value="black" />
</xacro:if> </xacro:if>
@@ -59,7 +59,7 @@
arm_id="${arm_id}" arm_id="${arm_id}"
arm_prefix="${arm_prefix_modified}" arm_prefix="${arm_prefix_modified}"
ee_id="${ee_id}_${ee_color}" 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="$(arg rpy_ee)" rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)" xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)" tcp_xyz="$(arg tcp_xyz)"
@@ -72,9 +72,9 @@
</xacro:if> </xacro:if>
<xacro:if value="${hand and ee_id != 'none' and ee_id != 'franka_hand'}"> <xacro:if value="${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 moonshot_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 moonshot_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/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
<xacro:property name="special_connection" value="$(arg special_connection)" /> <xacro:property name="special_connection" value="$(arg special_connection)" />
<xacro:property name="connection" value="${special_connection if special_connection == '' else arm_id + '_link8'}" /> <xacro:property name="connection" value="${special_connection if special_connection == '' else arm_id + '_link8'}" />
<xacro:ee_with_one_link <xacro:ee_with_one_link
@@ -82,7 +82,7 @@
arm_id="${arm_id}" arm_id="${arm_id}"
arm_prefix="${arm_prefix_modified}" arm_prefix="${arm_prefix_modified}"
ee_id="${ee_id}" ee_id="${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="$(arg rpy_ee)" rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)" xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)" tcp_xyz="$(arg tcp_xyz)"
@@ -149,7 +149,7 @@
</xacro:if> </xacro:if>
<xacro:if value="${ros2_control}"> <xacro:if value="${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 <xacro:franka_arm_ros2_control
arm_id="${arm_id}" arm_id="${arm_id}"
robot_ip="${robot_ip}" robot_ip="${robot_ip}"

2
robots/common/utils.xacro
View File

@@ -44,7 +44,7 @@
</visual> </visual>
<collision name="${prefix}${name}_collision"> <collision name="${prefix}${name}_collision">
<geometry> <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> </geometry>
</collision> </collision>
<xacro:franka-inertials name="${name}" /> <xacro:franka-inertials name="${name}" />

10
robots/fer/fer.urdf.xacro
View File

@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
<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 DEPRECATION NOTICE
@@ -46,10 +46,10 @@
<xacro:arg name="multi_arm" default="false" /> <xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fer" <xacro:franka_robot arm_id="fer"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fer/joint_limits.yaml')}" joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fer/inertials.yaml')}" inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fer/kinematics.yaml')}" kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fer/dynamics.yaml')}" dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/dynamics.yaml')}"
gazebo="$(arg gazebo)" gazebo="$(arg gazebo)"
hand="$(arg hand)" hand="$(arg hand)"
ee_id="$(arg ee_id)" ee_id="$(arg ee_id)"

10
robots/fp3/fp3.urdf.xacro
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@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fp3"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fp3">
<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 DEPRECATION NOTICE
@@ -44,10 +44,10 @@
<xacro:arg name="multi_arm" default="false" /> <xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fp3" <xacro:franka_robot arm_id="fp3"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fp3/joint_limits.yaml')}" joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fp3/inertials.yaml')}" inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fp3/kinematics.yaml')}" kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fp3/dynamics.yaml')}" dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/dynamics.yaml')}"
gazebo="$(arg gazebo)" gazebo="$(arg gazebo)"
hand="$(arg hand)" hand="$(arg hand)"
ee_id="$(arg ee_id)" ee_id="$(arg ee_id)"

10
robots/fr3/fr3.urdf.xacro
View File

@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fr3"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fr3">
<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 DEPRECATION NOTICE
@@ -44,10 +44,10 @@
<xacro:arg name="multi_arm" default="false" /> <xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fr3" <xacro:franka_robot arm_id="fr3"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}" joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}" inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}" kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}" dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fr3/dynamics.yaml')}"
gazebo="$(arg gazebo)" gazebo="$(arg gazebo)"
hand="$(arg hand)" hand="$(arg hand)"
ee_id="$(arg ee_id)" ee_id="$(arg ee_id)"

10
robots/moonshot_panda/moonshot_panda.urdf.xacro
View File

@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm"> <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 DEPRECATION NOTICE
@@ -72,10 +72,10 @@
<origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/> <origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/>
</joint> </joint>
<xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/> <xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/>
<xacro:arg name="inertials_path" default="$(find franka_description)/robots/${arm_id_i}/inertials.yaml"/> <xacro:arg name="inertials_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/inertials.yaml"/>
<xacro:arg name="kinematics_path" default="$(find franka_description)/robots/${arm_id_i}/kinematics.yaml"/> <xacro:arg name="kinematics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
<xacro:arg name="dynamics_path" default="$(find franka_description)/robots/${arm_id_i}/dynamics.yaml"/> <xacro:arg name="dynamics_path" default="$(find moonshot_franka_description)/robots/${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="joint_limits_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
<xacro:franka_robot arm_id="${arm_id_i}" <xacro:franka_robot arm_id="${arm_id_i}"
joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}" joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}"
inertials="${xacro.load_yaml('$(arg inertials_path)')}" inertials="${xacro.load_yaml('$(arg inertials_path)')}"

10
robots/multi_arm/multi_arm.urdf.xacro
View File

@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='utf-8'?> <?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="multi_arm"> <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 DEPRECATION NOTICE
@@ -72,10 +72,10 @@
<origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/> <origin rpy="${rpy_list[i]}" xyz="${xyz_list[i]}"/>
</joint> </joint>
<xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/> <xacro:property name="arm_id_i" value="${arm_ids_list[i]}"/>
<xacro:arg name="inertials_path" default="$(find franka_description)/robots/${arm_id_i}/inertials.yaml"/> <xacro:arg name="inertials_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/inertials.yaml"/>
<xacro:arg name="kinematics_path" default="$(find franka_description)/robots/${arm_id_i}/kinematics.yaml"/> <xacro:arg name="kinematics_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/kinematics.yaml"/>
<xacro:arg name="dynamics_path" default="$(find franka_description)/robots/${arm_id_i}/dynamics.yaml"/> <xacro:arg name="dynamics_path" default="$(find moonshot_franka_description)/robots/${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="joint_limits_path" default="$(find moonshot_franka_description)/robots/${arm_id_i}/joint_limits.yaml"/>
<xacro:franka_robot arm_id="${arm_id_i}" <xacro:franka_robot arm_id="${arm_id_i}"
joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}" joint_limits="${xacro.load_yaml('$(arg joint_limits_path)')}"
inertials="${xacro.load_yaml('$(arg inertials_path)')}" inertials="${xacro.load_yaml('$(arg inertials_path)')}"

6
scripts/create_urdf.py
View File

@@ -75,10 +75,10 @@ def save_urdf_to_file(package_path, urdf_file, robot):
if __name__ == "__main__": if __name__ == "__main__":
package_name = "franka_description" package_name = "moonshot_franka_description"
if os.getcwd().split("/")[-1] != package_name: if os.getcwd().split("/")[-1] != package_name:
print("Call the script from franka_description root folder") print("Call the script from moonshot_franka_description root folder")
exit() exit()
ROBOTS = ["moonshot_panda", "multi_arm", "fr3", "fp3", "fer"] ROBOTS = ["moonshot_panda", "multi_arm", "fr3", "fp3", "fer"]
@@ -88,7 +88,7 @@ if __name__ == "__main__":
parser = argparse.ArgumentParser( parser = argparse.ArgumentParser(
description=""" description="""
Generate franka robots urdf models. Generate franka robots urdf models.
Script to be executed from franka_description root folder! Script to be executed from moonshot_franka_description root folder!
""" """
) )

4
scripts/create_urdf.sh
View File

@@ -8,7 +8,7 @@ sudo docker build -t urdf_creation \
echo echo
sudo docker run -u $(id -u) \ sudo docker run -u $(id -u) \
-v $(pwd):/workspaces/src/franka_description \ -v $(pwd):/workspaces/src/moonshot_franka_description \
-w /workspaces/src/franka_description \ -w /workspaces/src/moonshot_franka_description \
urdf_creation \ urdf_creation \
.docker/create_urdf.entrypoint.sh $* .docker/create_urdf.entrypoint.sh $*

4
scripts/visualize_franka.sh
View File

@@ -10,7 +10,7 @@ echo
sudo docker run -it -u $(id -u) \ sudo docker run -it -u $(id -u) \
--privileged \ --privileged \
-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \ -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=${DISPLAY} \
-v $(pwd):/workspaces/src/franka_description \ -v $(pwd):/workspaces/src/moonshot_franka_description \
-w /workspaces/src/franka_description \ -w /workspaces/src/moonshot_franka_description \
urdf_creation \ urdf_creation \
.docker/visualize_franka.entrypoint.sh $* .docker/visualize_franka.entrypoint.sh $*

2
test/urdf_tests.py
View File

@@ -20,7 +20,7 @@ from ament_index_python.packages import get_package_share_directory
arm_id_ = "fer" arm_id_ = "fer"
xacro_file_name = path.join( xacro_file_name = path.join(
get_package_share_directory("franka_description"), get_package_share_directory("moonshot_franka_description"),
"robots", "robots",
arm_id_, arm_id_,
arm_id_ + ".urdf.xacro", arm_id_ + ".urdf.xacro",