Rename franka_dual_arm_sim to simply dual_arm_sim

.gitattributes

@@ -12,9 +12,9 @@
 *.blend filter=lfs diff=lfs merge=lfs -text
 # Add Git LFS support for large yaml files
 src/moveit_pro_franka_configs/franka_arm_sim/objectives/moveitpro_loves_franka.yaml filter=lfs diff=lfs merge=lfs -text
-src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
-src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
-src/moveit_pro_franka_configs/franka_dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
+src/moveit_pro_franka_configs/dual_arm_sim/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text
 src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/loves.yaml filter=lfs diff=lfs merge=lfs -text
 src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/moveit_pro.yaml filter=lfs diff=lfs merge=lfs -text
 src/moveit_pro_franka_configs/franka_dual_arm_hw/objectives/wipe.yaml filter=lfs diff=lfs merge=lfs -text

src/moveit_pro_franka_configs/franka_dual_arm_sim/CMakeLists.txt → src/moveit_pro_franka_configs/dual_arm_sim/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(franka_dual_arm_sim)
+project(dual_arm_sim)
 
 find_package(ament_cmake REQUIRED)
 

src/moveit_pro_franka_configs/franka_dual_arm_sim/README.md → src/moveit_pro_franka_configs/dual_arm_sim/README.md

@@ -1,4 +1,4 @@
-# franka_dual_arm_sim
+# dual_arm_sim
 
 A MoveIt Pro base configuration for the Franka arm.
 For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/).

src/moveit_pro_franka_configs/franka_dual_arm_sim/config/config.yaml → src/moveit_pro_franka_configs/dual_arm_sim/config/config.yaml

@@ -23,10 +23,10 @@ hardware:
 
   robot_description:
     urdf:
-      package: "franka_dual_arm_sim"
+      package: "dual_arm_sim"
       path: "description/franka.urdf.xacro"
     srdf:
-      package: "franka_dual_arm_sim"
+      package: "dual_arm_sim"
       path: "config/moveit/franka.srdf"
     # Specify any additional parameters required for the URDF.
     # Many of these are specific to the UR descriptions packages, and can be customized as needed.
@@ -46,31 +46,31 @@ moveit_params:
   joint_group_name: "manipulator"
 
   ompl_planning:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/ompl_planning.yaml"
   stomp_planning:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_ik_distance.yaml"
   servo:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/servo.yaml"
   sensors_3d:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/joint_limits.yaml"
   servo_joint_limits:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/servo_joint_limits.yaml"
   pose_jog:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_jog.yaml"
 
   publish:
@@ -112,18 +112,18 @@ objectives:
       package_name: "moveit_pro_objectives"
       relative_path: "objectives/perception"
     custom_objectives:
-      package_name: "franka_dual_arm_sim"
+      package_name: "dual_arm_sim"
       relative_path: "objectives"
   # Specify the location of the saved waypoints file.
   # [Required]
   waypoints_file:
-    package_name: "franka_dual_arm_sim"
+    package_name: "dual_arm_sim"
     relative_path: "waypoints/waypoints.yaml"
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]
 ros2_control:
   config:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/control/franka_ros2_control.yaml"
   # MoveIt Pro will load and activate these controllers at start up to ensure they are available.
   # If not specified, it is up to the user to ensure the appropriate controllers are active and available

src/moveit_pro_franka_configs/franka_dual_arm_sim/description/franka.urdf.xacro → src/moveit_pro_franka_configs/dual_arm_sim/description/franka.urdf.xacro

@@ -252,7 +252,7 @@
       <hardware>
         <plugin>picknik_mujoco_ros/MujocoSystem</plugin>
         <param name="mujoco_model">$(arg mujoco_model)</param>
-        <param name="mujoco_model_package">franka_dual_arm_sim</param>
+        <param name="mujoco_model_package">dual_arm_sim</param>
         <param name="render_publish_rate">10</param>
         <param name="tf_publish_rate">60</param>
         <param name="mujoco_keyframe">default</param>

src/moveit_pro_franka_configs/franka_dual_arm_sim/package.xml → src/moveit_pro_franka_configs/dual_arm_sim/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <package format="3">
-  <name>franka_dual_arm_sim</name>
+  <name>dual_arm_sim</name>
   <version>7.4.0</version>
 
   <description>Base configuration package for the Franka arm.</description>

src/moveit_pro_franka_configs/franka_dual_arm_hw/config/config.yaml

@@ -51,31 +51,31 @@ moveit_params:
   joint_group_name: "right_manipulator"
 
   ompl_planning:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/ompl_planning.yaml"
   stomp_planning:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/stomp_planning.yaml"
   kinematics:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_ik_distance.yaml"
   servo:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/servo.yaml"
   sensors_3d:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/sensors_3d.yaml"
   servo_kinematics:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_ik_speed.yaml"
   joint_limits:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/joint_limits.yaml"
   servo_joint_limits:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/servo_joint_limits.yaml"
   pose_jog:
-    package: "franka_dual_arm_sim"
+    package: "dual_arm_sim"
     path: "config/moveit/pose_jog.yaml"
 
   publish:
@@ -122,7 +122,7 @@ objectives:
   # Specify the location of the saved waypoints file.
   # [Required]
   #waypoints_file:
-  #  package_name: "franka_dual_arm_sim"
+  #  package_name: "dual_arm_sim"
   #  relative_path: "waypoints/waypoints.yaml"
 # Configuration for launching ros2_control processes.
 # [Required, if using ros2_control]