From 7ef372d5f229cfe004bf6a55197e671e7c791b6d Mon Sep 17 00:00:00 2001
From: Kuwagata <kuwagata@rt-net.jp>
Date: Mon, 6 Nov 2023 14:33:05 +0900
Subject: [PATCH 1/4] =?UTF-8?q?hand=E8=A1=A8=E8=A8=98=E3=82=92gripper?=
 =?UTF-8?q?=E3=81=B8=E5=A4=89=E6=9B=B4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 launch/display.rviz                           |  8 ++---
 urdf/sciurus17.gazebo_ros2_control.xacro      | 20 +++++------
 urdf/sciurus17.ros2_control.xacro             | 12 +++----
 urdf/sciurus17.urdf.xacro                     | 34 +++++++++----------
 urdf/sciurus17_gazebo.xacro                   |  8 ++---
 ...and.xacro => sciurus17_left_gripper.xacro} | 32 ++++++++---------
 ...nd.xacro => sciurus17_right_gripper.xacro} | 32 ++++++++---------
 7 files changed, 73 insertions(+), 73 deletions(-)
 rename urdf/{sciurus17_left_hand.xacro => sciurus17_left_gripper.xacro} (79%)
 rename urdf/{sciurus17_right_hand.xacro => sciurus17_right_gripper.xacro} (79%)

diff --git a/launch/display.rviz b/launch/display.rviz
index 1d81865..dedbe7b 100644
--- a/launch/display.rviz
+++ b/launch/display.rviz
@@ -86,12 +86,12 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        l_handA_link:
+        l_gripperA_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        l_handB_link:
+        l_gripperB_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -146,12 +146,12 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        r_handA_link:
+        r_gripperA_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        r_handB_link:
+        r_gripperB_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
index 8bfeafe..e3c0865 100644
--- a/urdf/sciurus17.gazebo_ros2_control.xacro
+++ b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -128,10 +128,10 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_A}">
+      <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -140,8 +140,8 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_B}">
-        <param name="mimic">${NAME_JOINT_HAND_R_A}</param>
+      <joint name="${NAME_JOINT_GRIPPER_R_B}">
+        <param name="mimic">${NAME_JOINT_GRIPPER_R_A}</param>
         <param name="multiplier">1</param>
         <command_interface name="position"/>
         <state_interface name="position"/>
@@ -233,10 +233,10 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_A}">
+      <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
@@ -245,8 +245,8 @@
         <state_interface name="effort"/>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_B}">
-        <param name="mimic">${NAME_JOINT_HAND_L_A}</param>
+      <joint name="${NAME_JOINT_GRIPPER_L_B}">
+        <param name="mimic">${NAME_JOINT_GRIPPER_L_A}</param>
         <param name="multiplier">1</param>
         <command_interface name="position"/>
         <state_interface name="position"/>
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index f27a006..612fd16 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -122,10 +122,10 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_R_A}">
+      <joint name="${NAME_JOINT_GRIPPER_R_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_R_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_R_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_R_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_R_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
@@ -210,10 +210,10 @@
         <param name="current_to_effort">2.20</param>
       </joint>
 
-      <joint name="${NAME_JOINT_HAND_L_A}">
+      <joint name="${NAME_JOINT_GRIPPER_L_A}">
         <command_interface name="position">
-          <param name="min">${JOINT_HAND_L_LOWER_LIMIT}"</param>
-          <param name="max">${JOINT_HAND_L_UPPER_LIMIT}"</param>
+          <param name="min">${JOINT_GRIPPER_L_LOWER_LIMIT}"</param>
+          <param name="max">${JOINT_GRIPPER_L_UPPER_LIMIT}"</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 21bd5ee..542c22d 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -11,9 +11,9 @@
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_body.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_head.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_arm.xacro"/>
-  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_hand.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_right_gripper.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_arm.xacro"/>
-  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_hand.xacro"/>
+  <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_left_gripper.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17_gazebo.xacro"/>
   <xacro:include filename="$(find sciurus17_description)/urdf/sciurus17.gazebo_ros2_control.xacro"/>
 
@@ -55,8 +55,8 @@
   <xacro:property name="NAME_LINK_ARM_R_5" value="r_link5"/>
   <xacro:property name="NAME_LINK_ARM_R_6" value="r_link6"/>
   <xacro:property name="NAME_LINK_ARM_R_7" value="r_link7"/>
-  <xacro:property name="NAME_LINK_HAND_R_A" value="r_handA_link"/>
-  <xacro:property name="NAME_LINK_HAND_R_B" value="r_handB_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_R_A" value="r_gripperA_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_R_B" value="r_gripperB_link"/>
   <xacro:property name="NAME_LINK_ARMARKER_R" value="r_link5_armarker"/>
 
   <xacro:property name="NAME_LINK_ARM_L_1" value="l_link1"/>
@@ -66,8 +66,8 @@
   <xacro:property name="NAME_LINK_ARM_L_5" value="l_link5"/>
   <xacro:property name="NAME_LINK_ARM_L_6" value="l_link6"/>
   <xacro:property name="NAME_LINK_ARM_L_7" value="l_link7"/>
-  <xacro:property name="NAME_LINK_HAND_L_A" value="l_handA_link"/>
-  <xacro:property name="NAME_LINK_HAND_L_B" value="l_handB_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_L_A" value="l_gripperA_link"/>
+  <xacro:property name="NAME_LINK_GRIPPER_L_B" value="l_gripperB_link"/>
   <xacro:property name="NAME_LINK_ARMARKER_L" value="l_link5_armarker"/>
 
   <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
@@ -86,8 +86,8 @@
   <xacro:property name="NAME_JOINT_ARM_R_5" value="r_arm_joint5"/>
   <xacro:property name="NAME_JOINT_ARM_R_6" value="r_arm_joint6"/>
   <xacro:property name="NAME_JOINT_ARM_R_7" value="r_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_HAND_R_A" value="r_hand_joint"/>
-  <xacro:property name="NAME_JOINT_HAND_R_B" value="r_hand_mimic_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_R_A" value="r_gripper_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_R_B" value="r_gripper_mimic_joint"/>
   <xacro:property name="NAME_JOINT_ARMARKER_R" value="r_arm_armarker"/>
 
   <xacro:property name="NAME_JOINT_ARM_L_1" value="l_arm_joint1"/>
@@ -97,8 +97,8 @@
   <xacro:property name="NAME_JOINT_ARM_L_5" value="l_arm_joint5"/>
   <xacro:property name="NAME_JOINT_ARM_L_6" value="l_arm_joint6"/>
   <xacro:property name="NAME_JOINT_ARM_L_7" value="l_arm_joint7"/>
-  <xacro:property name="NAME_JOINT_HAND_L_A" value="l_hand_joint"/>
-  <xacro:property name="NAME_JOINT_HAND_L_B" value="l_hand_mimic_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_L_A" value="l_gripper_joint"/>
+  <xacro:property name="NAME_JOINT_GRIPPER_L_B" value="l_gripper_mimic_joint"/>
   <xacro:property name="NAME_JOINT_ARMARKER_L" value="l_arm_armarker"/>
 
   <xacro:property name="EFFORT_LIMIT" value="4.0"/>
@@ -130,8 +130,8 @@
   <xacro:property name="JOINT_ARM_R_7_UPPER_LIMIT" value="${radians(170)}"/>
   <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
   <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
-  <xacro:property name="JOINT_HAND_R_LOWER_LIMIT" value="${radians(-0.01)}"/>
-  <xacro:property name="JOINT_HAND_R_UPPER_LIMIT" value="${radians(86)}"/>
+  <xacro:property name="JOINT_GRIPPER_R_LOWER_LIMIT" value="${radians(-0.01)}"/>
+  <xacro:property name="JOINT_GRIPPER_R_UPPER_LIMIT" value="${radians(86)}"/>
 
   <xacro:property name="JOINT_ARM_L_1_LOWER_LIMIT" value="${radians(-90)}"/>
   <xacro:property name="JOINT_ARM_L_1_UPPER_LIMIT" value="${radians(90)}"/>
@@ -149,16 +149,16 @@
   <xacro:property name="JOINT_ARM_L_6_UPPER_LIMIT" value="${radians(120)}"/>
   <xacro:property name="JOINT_ARM_L_7_LOWER_LIMIT" value="${radians(-170)}"/>
   <xacro:property name="JOINT_ARM_L_7_UPPER_LIMIT" value="${radians(170)}"/>
-  <xacro:property name="JOINT_HAND_L_LOWER_LIMIT" value="${radians(-86)}"/>
+  <xacro:property name="JOINT_GRIPPER_L_LOWER_LIMIT" value="${radians(-86)}"/>
   <!-- Gazeboの挙動がlimit付近で不安定なため、limitをサーボの可動範囲より少し大きくする -->
   <!-- 参照: https://github.com/rt-net/sciurus17_description/pull/6 -->
-  <xacro:property name="JOINT_HAND_L_UPPER_LIMIT" value="${radians(0.01)}"/>
+  <xacro:property name="JOINT_GRIPPER_L_UPPER_LIMIT" value="${radians(0.01)}"/>
 
   <xacro:property name="COLOR_LINK_BASE" value="white"/>
   <xacro:property name="COLOR_LINK_BODY" value="white"/>
   <xacro:property name="COLOR_LINK_HEAD" value="white"/>
   <xacro:property name="COLOR_LINK_ARM" value="white"/>
-  <xacro:property name="COLOR_LINK_HAND" value="red"/>
+  <xacro:property name="COLOR_LINK_GRIPPER" value="red"/>
   <xacro:property name="COLOR_LINK_CAMERA" value="white"/>
 
   <!-- Used for fixing robot 'base_link'  to Gazebo 'world' -->
@@ -175,11 +175,11 @@
 
   <xacro:sciurus17_right_arm/>
 
-  <xacro:sciurus17_right_hand/>
+  <xacro:sciurus17_right_gripper/>
 
   <xacro:sciurus17_left_arm/>
 
-  <xacro:sciurus17_left_hand/>
+  <xacro:sciurus17_left_gripper/>
 
   <xacro:unless value="$(arg use_gazebo)">
 
diff --git a/urdf/sciurus17_gazebo.xacro b/urdf/sciurus17_gazebo.xacro
index d333095..ae61fe1 100644
--- a/urdf/sciurus17_gazebo.xacro
+++ b/urdf/sciurus17_gazebo.xacro
@@ -88,13 +88,13 @@
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_R_A}">
+    <gazebo reference="${NAME_LINK_GRIPPER_R_A}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_R_B}">
+    <gazebo reference="${NAME_LINK_GRIPPER_R_B}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
@@ -128,13 +128,13 @@
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_L_A}">
+    <gazebo reference="${NAME_LINK_GRIPPER_L_A}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
     </gazebo>
 
-    <gazebo reference="${NAME_LINK_HAND_L_B}">
+    <gazebo reference="${NAME_LINK_GRIPPER_L_B}">
       <mu1>0.8</mu1>
       <mu2>0.8</mu2>
       <xacro:material_gazebo_red/>
diff --git a/urdf/sciurus17_left_hand.xacro b/urdf/sciurus17_left_gripper.xacro
similarity index 79%
rename from urdf/sciurus17_left_hand.xacro
rename to urdf/sciurus17_left_gripper.xacro
index 363782f..cbd7887 100644
--- a/urdf/sciurus17_left_hand.xacro
+++ b/urdf/sciurus17_left_gripper.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="sciurus17_left_hand">
+  <xacro:macro name="sciurus17_left_gripper">
 
     <link name="${NAME_LINK_ARM_L_7}">
       <visual>
@@ -10,7 +10,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_Link7.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -25,26 +25,26 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_HAND_L_A}" type="revolute">
+    <joint name="${NAME_JOINT_GRIPPER_L_A}" type="revolute">
       <parent link="${NAME_LINK_ARM_L_7}" />
-      <child link="${NAME_LINK_HAND_L_A}" />
+      <child link="${NAME_LINK_GRIPPER_L_A}" />
       <origin xyz="0.012 0.024 0.0" rpy="0 0 0"/>
       <limit 
-        lower="${JOINT_HAND_L_LOWER_LIMIT}" 
-        upper="${JOINT_HAND_L_UPPER_LIMIT}" 
+        lower="${JOINT_GRIPPER_L_LOWER_LIMIT}" 
+        upper="${JOINT_GRIPPER_L_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 1"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_HAND_L_A}">
+    <link name="${NAME_LINK_GRIPPER_L_A}">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_HandA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -62,33 +62,33 @@
     <!--Dummy joint/link to prevent error with mimic joint
     See https://github.com/ros-controls/gazebo_ros2_control/issues/173
     -->
-    <joint name="${NAME_JOINT_HAND_L_B}_mimic" type="fixed">
+    <joint name="${NAME_JOINT_GRIPPER_L_B}_mimic" type="fixed">
       <parent link="world" />
       <child link="dummy_mimic_fix_l" />
     </joint>
     <link name="dummy_mimic_fix_l"/>
 
-    <joint name="${NAME_JOINT_HAND_L_B}" type="revolute">
+    <joint name="${NAME_JOINT_GRIPPER_L_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_L_7}" />
-      <child link="${NAME_LINK_HAND_L_B}" />
+      <child link="${NAME_LINK_GRIPPER_L_B}" />
       <origin xyz="-0.012 0.024 0.0" rpy="0 0 0"/>
       <limit 
-        lower="${JOINT_HAND_L_LOWER_LIMIT}" 
-        upper="${JOINT_HAND_L_UPPER_LIMIT}" 
+        lower="${JOINT_GRIPPER_L_LOWER_LIMIT}" 
+        upper="${JOINT_GRIPPER_L_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 -1"/>
-      <mimic joint="${NAME_JOINT_HAND_L_A}" multiplier="1" offset="0"/>
+      <mimic joint="${NAME_JOINT_GRIPPER_L_A}" multiplier="1" offset="0"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_HAND_L_B}">
+    <link name="${NAME_LINK_GRIPPER_L_B}">
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/L_HandB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
diff --git a/urdf/sciurus17_right_hand.xacro b/urdf/sciurus17_right_gripper.xacro
similarity index 79%
rename from urdf/sciurus17_right_hand.xacro
rename to urdf/sciurus17_right_gripper.xacro
index f06588d..f8a2069 100644
--- a/urdf/sciurus17_right_hand.xacro
+++ b/urdf/sciurus17_right_gripper.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="sciurus17_right_hand">
+  <xacro:macro name="sciurus17_right_gripper">
 
     <link name="${NAME_LINK_ARM_R_7}">
       <visual>
@@ -10,7 +10,7 @@
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_Link7.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="1.5708 0 0" xyz="0.0 0.0 0.0"/>
@@ -25,27 +25,27 @@
       </inertial>
     </link>
 
-    <joint name="${NAME_JOINT_HAND_R_A}" type="revolute">
+    <joint name="${NAME_JOINT_GRIPPER_R_A}" type="revolute">
       <parent link="${NAME_LINK_ARM_R_7}" />
-      <child link="${NAME_LINK_HAND_R_A}" />
+      <child link="${NAME_LINK_GRIPPER_R_A}" />
       <origin xyz="0.012 -0.024 0.0" rpy="0 0 0"/>
       <limit 
-        lower="${JOINT_HAND_R_LOWER_LIMIT}" 
-        upper="${JOINT_HAND_R_UPPER_LIMIT}" 
+        lower="${JOINT_GRIPPER_R_LOWER_LIMIT}" 
+        upper="${JOINT_GRIPPER_R_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 1"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_HAND_R_A}">
+    <link name="${NAME_LINK_GRIPPER_R_A}">
       <visual>
         <!--origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/-->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_HandA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -63,34 +63,34 @@
     <!--Dummy joint/link to prevent error with mimic joint
     See https://github.com/ros-controls/gazebo_ros2_control/issues/173
     -->
-    <joint name="${NAME_JOINT_HAND_R_B}_mimic" type="fixed">
+    <joint name="${NAME_JOINT_GRIPPER_R_B}_mimic" type="fixed">
       <parent link="world" />
       <child link="dummy_mimic_fix_r" />
     </joint>
     <link name="dummy_mimic_fix_r"/>
 
-    <joint name="${NAME_JOINT_HAND_R_B}" type="revolute">
+    <joint name="${NAME_JOINT_GRIPPER_R_B}" type="revolute">
       <parent link="${NAME_LINK_ARM_R_7}" />
-      <child link="${NAME_LINK_HAND_R_B}" />
+      <child link="${NAME_LINK_GRIPPER_R_B}" />
       <origin xyz="-0.012 -0.024 0.0" rpy="0 0 0"/>
       <limit 
-        lower="${JOINT_HAND_R_LOWER_LIMIT}" 
-        upper="${JOINT_HAND_R_UPPER_LIMIT}" 
+        lower="${JOINT_GRIPPER_R_LOWER_LIMIT}" 
+        upper="${JOINT_GRIPPER_R_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 -1"/>
-      <mimic joint="${NAME_JOINT_HAND_R_A}" multiplier="1" offset="0"/>
+      <mimic joint="${NAME_JOINT_GRIPPER_R_A}" multiplier="1" offset="0"/>
       <dynamics damping="1.0e-6" friction="0.8"/>
     </joint>
 
-    <link name="${NAME_LINK_HAND_R_B}">
+    <link name="${NAME_LINK_GRIPPER_R_B}">
       <visual>
         <!-- origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/ -->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
           <mesh filename="package://sciurus17_description/meshes/visual/R_HandB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
-        <material name="${COLOR_LINK_HAND}"/>
+        <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>

From 6deff4ab590503c91496d74fff7c731705bc8681 Mon Sep 17 00:00:00 2001
From: Kuwagata <kuwagata@rt-net.jp>
Date: Mon, 6 Nov 2023 14:37:29 +0900
Subject: [PATCH 2/4] =?UTF-8?q?property=E5=90=8D=E4=BF=AE=E6=AD=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 launch/display.rviz                      | 16 ++++++++++++----
 urdf/sciurus17.gazebo_ros2_control.xacro |  4 ++--
 urdf/sciurus17.ros2_control.xacro        |  4 ++--
 urdf/sciurus17.urdf.xacro                |  4 ++--
 urdf/sciurus17_body.xacro                |  4 ++--
 5 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/launch/display.rviz b/launch/display.rviz
index dedbe7b..f69a7ca 100644
--- a/launch/display.rviz
+++ b/launch/display.rviz
@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 555
+    Tree Height: 549
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -76,12 +76,20 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_link:
+        chest_camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        chest_camera_link:
+        dummy_mimic_fix_l:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        dummy_mimic_fix_r:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_camera_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -280,7 +288,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/urdf/sciurus17.gazebo_ros2_control.xacro b/urdf/sciurus17.gazebo_ros2_control.xacro
index e3c0865..4d28422 100644
--- a/urdf/sciurus17.gazebo_ros2_control.xacro
+++ b/urdf/sciurus17.gazebo_ros2_control.xacro
@@ -10,8 +10,8 @@
 
       <joint name="${NAME_JOINT_BODY}">
         <command_interface name="position">
-          <param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
-          <param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
+          <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position">
           <param name="initial_value">0.0</param>
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index 612fd16..5de1d66 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -14,8 +14,8 @@
 
       <joint name="${NAME_JOINT_BODY}">
         <command_interface name="position">
-          <param name="min">${NAME_JOINT_BODY_LOWER_LIMIT}</param>
-          <param name="max">${NAME_JOINT_BODY_UPPER_LIMIT}</param>
+          <param name="min">${JOINT_BODY_LOWER_LIMIT}</param>
+          <param name="max">${JOINT_BODY_UPPER_LIMIT}</param>
         </command_interface>
         <state_interface name="position"/>
         <state_interface name="velocity"/>
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 542c22d..1400d09 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -104,8 +104,8 @@
   <xacro:property name="EFFORT_LIMIT" value="4.0"/>
   <xacro:property name="VELOCITY_LIMIT" value="5.969211435"/>
 
-  <xacro:property name="NAME_JOINT_BODY_LOWER_LIMIT" value="${radians(-110)}"/>
-  <xacro:property name="NAME_JOINT_BODY_UPPER_LIMIT" value="${radians(110)}"/>
+  <xacro:property name="JOINT_BODY_LOWER_LIMIT" value="${radians(-110)}"/>
+  <xacro:property name="JOINT_BODY_UPPER_LIMIT" value="${radians(110)}"/>
 
   <xacro:property name="JOINT_NECK_1_LOWER_LIMIT" value="${radians(-165)}"/>
   <xacro:property name="JOINT_NECK_1_UPPER_LIMIT" value="${radians(165)}"/>
diff --git a/urdf/sciurus17_body.xacro b/urdf/sciurus17_body.xacro
index 99237bb..60e5f59 100644
--- a/urdf/sciurus17_body.xacro
+++ b/urdf/sciurus17_body.xacro
@@ -29,8 +29,8 @@
       <child link="${NAME_LINK_BODY}" />
       <origin xyz="0.0 0.0 0.1315" rpy="0 0 0"/>
       <limit 
-        lower="${NAME_JOINT_BODY_LOWER_LIMIT}" 
-        upper="${NAME_JOINT_BODY_UPPER_LIMIT}" 
+        lower="${JOINT_BODY_LOWER_LIMIT}" 
+        upper="${JOINT_BODY_UPPER_LIMIT}" 
         effort="${EFFORT_LIMIT}" 
         velocity="${VELOCITY_LIMIT}"/>
       <axis xyz="0 0 1"/>

From e5c2bb7425ccd5545f22d6c6feacd2417e4e5d6e Mon Sep 17 00:00:00 2001
From: Kuwagata <kuwagata@rt-net.jp>
Date: Mon, 6 Nov 2023 14:38:30 +0900
Subject: [PATCH 3/4] =?UTF-8?q?=E8=A8=AD=E5=AE=9A=E9=A0=86=E5=BA=8F?=
 =?UTF-8?q?=E4=BF=AE=E6=AD=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 urdf/sciurus17.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 1400d09..46406c6 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -70,8 +70,8 @@
   <xacro:property name="NAME_LINK_GRIPPER_L_B" value="l_gripperB_link"/>
   <xacro:property name="NAME_LINK_ARMARKER_L" value="l_link5_armarker"/>
 
-  <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
   <xacro:property name="NAME_JOINT_BASE" value="base_link_to_world_joint"/>
+  <xacro:property name="NAME_JOINT_BODY" value="waist_yaw_joint"/>
 
   <xacro:property name="NAME_JOINT_NECK_1" value="neck_yaw_joint"/>
   <xacro:property name="NAME_JOINT_NECK_2" value="neck_pitch_joint"/>

From 5a5a24073c9fcd3af305d4129ab90efde9d0c179 Mon Sep 17 00:00:00 2001
From: Kuwagata <kuwagata@rt-net.jp>
Date: Mon, 6 Nov 2023 14:52:40 +0900
Subject: [PATCH 4/4] =?UTF-8?q?hand=E8=A1=A8=E8=A8=98=E3=82=92gripper?=
 =?UTF-8?q?=E3=81=B8=E5=A4=89=E6=9B=B4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 meshes/collision/{L_HandA.stl => L_GripperA.stl} | Bin
 meshes/collision/{L_HandB.stl => L_GripperB.stl} | Bin
 meshes/collision/{R_HandA.stl => R_GripperA.stl} | Bin
 meshes/collision/{R_HandB.stl => R_GripperB.stl} | Bin
 meshes/visual/{L_HandA.stl => L_GripperA.stl}    | Bin
 meshes/visual/{L_HandB.stl => L_GripperB.stl}    | Bin
 meshes/visual/{R_HandA.stl => R_GripperA.stl}    | Bin
 meshes/visual/{R_HandB.stl => R_GripperB.stl}    | Bin
 urdf/sciurus17_left_gripper.xacro                |   8 ++++----
 urdf/sciurus17_right_gripper.xacro               |   8 ++++----
 10 files changed, 8 insertions(+), 8 deletions(-)
 rename meshes/collision/{L_HandA.stl => L_GripperA.stl} (100%)
 rename meshes/collision/{L_HandB.stl => L_GripperB.stl} (100%)
 rename meshes/collision/{R_HandA.stl => R_GripperA.stl} (100%)
 rename meshes/collision/{R_HandB.stl => R_GripperB.stl} (100%)
 rename meshes/visual/{L_HandA.stl => L_GripperA.stl} (100%)
 rename meshes/visual/{L_HandB.stl => L_GripperB.stl} (100%)
 rename meshes/visual/{R_HandA.stl => R_GripperA.stl} (100%)
 rename meshes/visual/{R_HandB.stl => R_GripperB.stl} (100%)

diff --git a/meshes/collision/L_HandA.stl b/meshes/collision/L_GripperA.stl
similarity index 100%
rename from meshes/collision/L_HandA.stl
rename to meshes/collision/L_GripperA.stl
diff --git a/meshes/collision/L_HandB.stl b/meshes/collision/L_GripperB.stl
similarity index 100%
rename from meshes/collision/L_HandB.stl
rename to meshes/collision/L_GripperB.stl
diff --git a/meshes/collision/R_HandA.stl b/meshes/collision/R_GripperA.stl
similarity index 100%
rename from meshes/collision/R_HandA.stl
rename to meshes/collision/R_GripperA.stl
diff --git a/meshes/collision/R_HandB.stl b/meshes/collision/R_GripperB.stl
similarity index 100%
rename from meshes/collision/R_HandB.stl
rename to meshes/collision/R_GripperB.stl
diff --git a/meshes/visual/L_HandA.stl b/meshes/visual/L_GripperA.stl
similarity index 100%
rename from meshes/visual/L_HandA.stl
rename to meshes/visual/L_GripperA.stl
diff --git a/meshes/visual/L_HandB.stl b/meshes/visual/L_GripperB.stl
similarity index 100%
rename from meshes/visual/L_HandB.stl
rename to meshes/visual/L_GripperB.stl
diff --git a/meshes/visual/R_HandA.stl b/meshes/visual/R_GripperA.stl
similarity index 100%
rename from meshes/visual/R_HandA.stl
rename to meshes/visual/R_GripperA.stl
diff --git a/meshes/visual/R_HandB.stl b/meshes/visual/R_GripperB.stl
similarity index 100%
rename from meshes/visual/R_HandB.stl
rename to meshes/visual/R_GripperB.stl
diff --git a/urdf/sciurus17_left_gripper.xacro b/urdf/sciurus17_left_gripper.xacro
index cbd7887..9069ae8 100644
--- a/urdf/sciurus17_left_gripper.xacro
+++ b/urdf/sciurus17_left_gripper.xacro
@@ -42,14 +42,14 @@
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/visual/L_HandA.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/visual/L_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
         <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/collision/L_HandA.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/collision/L_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
       <inertial>
@@ -86,14 +86,14 @@
       <visual>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/visual/L_HandB.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/visual/L_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
         <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/collision/L_HandB.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/collision/L_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
       <inertial>
diff --git a/urdf/sciurus17_right_gripper.xacro b/urdf/sciurus17_right_gripper.xacro
index f8a2069..e5b9aaf 100644
--- a/urdf/sciurus17_right_gripper.xacro
+++ b/urdf/sciurus17_right_gripper.xacro
@@ -43,14 +43,14 @@
         <!--origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/-->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/visual/R_HandA.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/visual/R_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
         <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/collision/R_HandA.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/collision/R_GripperA.stl" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
       <inertial>
@@ -88,14 +88,14 @@
         <!-- origin rpy="3.14159 0 0" xyz="0.0 0.0 0.0"/ -->
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/visual/R_HandB.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/visual/R_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
         <material name="${COLOR_LINK_GRIPPER}"/>
       </visual>
       <collision>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <geometry>
-          <mesh filename="package://sciurus17_description/meshes/collision/R_HandB.stl" scale="1.0 1.0 1.0"/>
+          <mesh filename="package://sciurus17_description/meshes/collision/R_GripperB.stl" scale="1.0 1.0 1.0"/>
         </geometry>
       </collision>
       <inertial>