From 129dac70aa477d5be4039e3248797d7823d4517c Mon Sep 17 00:00:00 2001
From: Karanbir Chahal <kchahal@nvidia.com>
Date: Thu, 26 Sep 2024 12:46:08 -0700
Subject: [PATCH] Unify 2F_85 and 2F_140 link names

---
 .../config/robotiq_controllers.yaml           |  2 +-
 .../urdf/2f_85.ros2_control.xacro             | 12 +--
 .../urdf/robotiq_2f_85_macro.urdf.xacro       | 80 +++++++++----------
 3 files changed, 47 insertions(+), 47 deletions(-)

diff --git a/robotiq_description/config/robotiq_controllers.yaml b/robotiq_description/config/robotiq_controllers.yaml
index 588ec21..2b0bd6f 100644
--- a/robotiq_description/config/robotiq_controllers.yaml
+++ b/robotiq_description/config/robotiq_controllers.yaml
@@ -11,7 +11,7 @@ controller_manager:
 robotiq_gripper_controller:
   ros__parameters:
     default: true
-    joint: robotiq_85_left_knuckle_joint
+    joint: left_knuckle_joint
     use_effort_interface: true
     use_speed_interface: true
 
diff --git a/robotiq_description/urdf/2f_85.ros2_control.xacro b/robotiq_description/urdf/2f_85.ros2_control.xacro
index 11f46f5..59804ed 100644
--- a/robotiq_description/urdf/2f_85.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_85.ros2_control.xacro
@@ -44,7 +44,7 @@
 
             <!-- Joint interfaces -->
             <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
-            <joint name="${prefix}robotiq_85_left_knuckle_joint">
+            <joint name="${prefix}left_knuckle_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
                     <param name="initial_value">0.7929</param>
@@ -53,31 +53,31 @@
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
             <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
-                <joint name="${prefix}robotiq_85_right_knuckle_joint">
+                <joint name="${prefix}right_knuckle_joint">
                     <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
-                <joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
+                <joint name="${prefix}left_inner_knuckle_joint">
                     <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
-                <joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
+                <joint name="${prefix}right_inner_knuckle_joint">
                     <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
-                <joint name="${prefix}robotiq_85_left_finger_tip_joint">
+                <joint name="${prefix}left_finger_tip_joint">
                     <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
-                <joint name="${prefix}robotiq_85_right_finger_tip_joint">
+                <joint name="${prefix}right_finger_tip_joint">
                     <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
diff --git a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
index b203fed..5c5e6c3 100644
--- a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
@@ -29,7 +29,7 @@
                 com_port="${com_port}"/>
         </xacro:if>
 
-        <link name="${prefix}robotiq_85_base_link">
+        <link name="${prefix}robotiq_base_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/robotiq_base.dae" />
@@ -47,7 +47,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_left_knuckle_link">
+        <link name="${prefix}left_knuckle_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_knuckle.dae" />
@@ -65,7 +65,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_right_knuckle_link">
+        <link name="${prefix}right_knuckle_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_knuckle.dae" />
@@ -83,7 +83,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_left_finger_link">
+        <link name="${prefix}left_finger_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger.dae" />
@@ -101,7 +101,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_right_finger_link">
+        <link name="${prefix}right_finger_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger.dae" />
@@ -119,7 +119,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_left_inner_knuckle_link">
+        <link name="${prefix}left_inner_knuckle_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_inner_knuckle.dae" />
@@ -137,7 +137,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_right_inner_knuckle_link">
+        <link name="${prefix}right_inner_knuckle_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_inner_knuckle.dae" />
@@ -155,7 +155,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_left_finger_tip_link">
+        <link name="${prefix}left_finger_tip_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger_tip.dae" />
@@ -191,7 +191,7 @@
             </inertial>
         </link>
 
-        <link name="${prefix}robotiq_85_right_finger_tip_link">
+        <link name="${prefix}right_finger_tip_link">
             <visual>
                 <geometry>
                     <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger_tip.dae" />
@@ -227,71 +227,71 @@
             </inertial>
         </link>
 
-        <joint name="${prefix}robotiq_85_base_joint" type="fixed">
+        <joint name="${prefix}base_joint" type="fixed">
             <parent link="${parent}" />
-            <child link="${prefix}robotiq_85_base_link" />
+            <child link="${prefix}robotiq_base_link" />
             <xacro:insert_block name="origin" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_left_knuckle_joint" type="revolute">
-            <parent link="${prefix}robotiq_85_base_link" />
-            <child link="${prefix}robotiq_85_left_knuckle_link" />
+        <joint name="${prefix}left_knuckle_joint" type="revolute">
+            <parent link="${prefix}robotiq_base_link" />
+            <child link="${prefix}left_knuckle_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
             <limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_right_knuckle_joint" type="revolute">
-            <parent link="${prefix}robotiq_85_base_link" />
-            <child link="${prefix}robotiq_85_right_knuckle_link" />
+        <joint name="${prefix}right_knuckle_joint" type="revolute">
+            <parent link="${prefix}robotiq_base_link" />
+            <child link="${prefix}right_knuckle_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="-0.03060114 0.0 0.05490452" rpy="0 0 0" />
             <limit lower="-0.8" upper="0.0" velocity="0.5" effort="50" />
-            <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
+            <mimic joint="${prefix}left_knuckle_joint" multiplier="-1" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_left_finger_joint" type="fixed">
-            <parent link="${prefix}robotiq_85_left_knuckle_link" />
-            <child link="${prefix}robotiq_85_left_finger_link" />
+        <joint name="${prefix}left_finger_joint" type="fixed">
+            <parent link="${prefix}left_knuckle_link" />
+            <child link="${prefix}left_finger_link" />
             <origin xyz="0.03152616 0.0 -0.00376347" rpy="0 0 0" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_right_finger_joint" type="fixed">
-            <parent link="${prefix}robotiq_85_right_knuckle_link" />
-            <child link="${prefix}robotiq_85_right_finger_link" />
+        <joint name="${prefix}right_finger_joint" type="fixed">
+            <parent link="${prefix}right_knuckle_link" />
+            <child link="${prefix}right_finger_link" />
             <origin xyz="-0.03152616 0.0 -0.00376347" rpy="0 0 0" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="continuous">
-            <parent link="${prefix}robotiq_85_base_link" />
-            <child link="${prefix}robotiq_85_left_inner_knuckle_link" />
+        <joint name="${prefix}left_inner_knuckle_joint" type="continuous">
+            <parent link="${prefix}robotiq_base_link" />
+            <child link="${prefix}left_inner_knuckle_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="0.0127 0.0 0.06142" rpy="0 0 0" />
-            <mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
+            <mimic joint="${prefix}left_knuckle_joint" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
-            <parent link="${prefix}robotiq_85_base_link" />
-            <child link="${prefix}robotiq_85_right_inner_knuckle_link" />
+        <joint name="${prefix}right_inner_knuckle_joint" type="continuous">
+            <parent link="${prefix}robotiq_base_link" />
+            <child link="${prefix}right_inner_knuckle_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="-0.0127 0.0 0.06142" rpy="0 0 0" />
-            <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
+            <mimic joint="${prefix}left_knuckle_joint" multiplier="-1" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_left_finger_tip_joint" type="continuous">
-            <parent link="${prefix}robotiq_85_left_finger_link" />
-            <child link="${prefix}robotiq_85_left_finger_tip_link" />
+        <joint name="${prefix}left_finger_tip_joint" type="continuous">
+            <parent link="${prefix}left_finger_link" />
+            <child link="${prefix}left_finger_tip_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="0.00563134 0.0 0.04718515" rpy="0 0 0" />
-            <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1" />
+            <mimic joint="${prefix}left_knuckle_joint" multiplier="-1" />
         </joint>
 
-        <joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
-            <parent link="${prefix}robotiq_85_right_finger_link" />
-            <child link="${prefix}robotiq_85_right_finger_tip_link" />
+        <joint name="${prefix}right_finger_tip_joint" type="continuous">
+            <parent link="${prefix}right_finger_link" />
+            <child link="${prefix}right_finger_tip_link" />
             <axis xyz="0 -1 0" />
             <origin xyz="-0.00563134 0.0 0.04718515" rpy="0 0 0" />
-            <mimic joint="${prefix}robotiq_85_left_knuckle_joint" />
+            <mimic joint="${prefix}left_knuckle_joint" />
         </joint>
     </xacro:macro>
 </robot>