Update TiagoGripper.proto

ygoumaz · ygoumaz · commit 7464bb27a68f · 2023-04-26T17:30:23.000+02:00
diff --git a/projects/robots/pal_robotics/tiago_extensions/protos/TiagoGripper.proto b/projects/robots/pal_robotics/tiago_extensions/protos/TiagoGripper.proto
@@ -364,13 +364,13 @@ PROTO TiagoGripper [
           }
           device [
             LinearMotor {
-              name %<= '"' + side + 'gripper_finger_joint::left"' >%
+              name %<= '"' + side + 'gripper_left_finger_joint"' >%
               maxVelocity 0.05
               maxPosition 0.045
               maxForce 16
             }
             PositionSensor {
-              name %<= '"' + side + 'gripper_finger_joint::left_sensor"' >%
+              name %<= '"' + side + 'gripper_left_sensor_finger_joint"' >%
             }
           ]
           endPoint DEF LEFT_GRIPPER Solid {
@@ -474,13 +474,13 @@ PROTO TiagoGripper [
           }
           device [
             LinearMotor {
-              name %<= '"' + side + 'gripper_finger_joint::right"' >%
+              name %<= '"' + side + 'gripper_right_finger_joint"' >%
               maxVelocity 0.05
               maxPosition 0.045
               maxForce 16
             }
             PositionSensor {
-              name %<= '"' + side + 'gripper_finger_joint::right_sensor"' >%
+              name %<= '"' + side + 'gripper_right_sensor_finger_joint"' >%
             }
           ]
           endPoint DEF RIGHT_GRIPPER Solid {

Original file line number	Diff line number	Diff line change
`@@ -364,13 +364,13 @@ PROTO TiagoGripper [`
`364`	`364`	`}`
`365`	`365`	`device [`
`366`	`366`	`LinearMotor {`
`367`		`- name %<= '"' + side + 'gripper_finger_joint::left"' >%`
	`367`	`+ name %<= '"' + side + 'gripper_left_finger_joint"' >%`
`368`	`368`	`maxVelocity 0.05`
`369`	`369`	`maxPosition 0.045`
`370`	`370`	`maxForce 16`
`371`	`371`	`}`
`372`	`372`	`PositionSensor {`
`373`		`- name %<= '"' + side + 'gripper_finger_joint::left_sensor"' >%`
	`373`	`+ name %<= '"' + side + 'gripper_left_sensor_finger_joint"' >%`
`374`	`374`	`}`
`375`	`375`	`]`
`376`	`376`	`endPoint DEF LEFT_GRIPPER Solid {`
`@@ -474,13 +474,13 @@ PROTO TiagoGripper [`
`474`	`474`	`}`
`475`	`475`	`device [`
`476`	`476`	`LinearMotor {`
`477`		`- name %<= '"' + side + 'gripper_finger_joint::right"' >%`
	`477`	`+ name %<= '"' + side + 'gripper_right_finger_joint"' >%`
`478`	`478`	`maxVelocity 0.05`
`479`	`479`	`maxPosition 0.045`
`480`	`480`	`maxForce 16`
`481`	`481`	`}`
`482`	`482`	`PositionSensor {`
`483`		`- name %<= '"' + side + 'gripper_finger_joint::right_sensor"' >%`
	`483`	`+ name %<= '"' + side + 'gripper_right_sensor_finger_joint"' >%`
`484`	`484`	`}`
`485`	`485`	`]`
`486`	`486`	`endPoint DEF RIGHT_GRIPPER Solid {`