From db36e7f710accd86a098c0aa2d446976f975ad8d Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Tue, 2 Apr 2024 11:11:01 -0700 Subject: [PATCH] [tri_homecart] Use the drake_models robot descriptions --- tri_homecart/homecart_grippers.dmd.yaml | 4 ++-- tri_homecart/homecart_no_grippers.dmd.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tri_homecart/homecart_grippers.dmd.yaml b/tri_homecart/homecart_grippers.dmd.yaml index ee7fa67..5ec9ec5 100644 --- a/tri_homecart/homecart_grippers.dmd.yaml +++ b/tri_homecart/homecart_grippers.dmd.yaml @@ -8,7 +8,7 @@ directives: rotation: !Rpy { deg: [0, 0, -90] } - add_model: name: gripper_left - file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf + file: package://drake_models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf - add_weld: parent: gripper_left_origin child: gripper_left::body @@ -21,7 +21,7 @@ directives: rotation: !Rpy { deg: [0, 0, -90] } - add_model: name: gripper_right - file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf + file: package://drake_models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf - add_weld: parent: gripper_right_origin child: gripper_right::body diff --git a/tri_homecart/homecart_no_grippers.dmd.yaml b/tri_homecart/homecart_no_grippers.dmd.yaml index fdc3044..ef860b7 100644 --- a/tri_homecart/homecart_no_grippers.dmd.yaml +++ b/tri_homecart/homecart_no_grippers.dmd.yaml @@ -37,7 +37,7 @@ directives: rotation: !Rpy { deg: [0, 0, 270] } - add_model: name: ur3_left - file: package://drake/manipulation/models/ur3e/ur3e_cylinders_collision.urdf + file: package://drake_models/ur_description/urdf/ur3e_cylinders_collision.urdf - add_weld: parent: ur3_left_origin child: ur3_left::ur_base_link @@ -51,7 +51,7 @@ directives: rotation: !Rpy { deg: [0, 0, 270] } - add_model: name: ur3_right - file: package://drake/manipulation/models/ur3e/ur3e_cylinders_collision.urdf + file: package://drake_models/ur_description/urdf/ur3e_cylinders_collision.urdf - add_weld: parent: ur3_right_origin child: ur3_right::ur_base_link