Renaming ecrou to nut

google-deepmind · Mar 6, 2025 · 09edb32 · 09edb32
1 parent e70b1cb
commit 09edb32
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Showing 8 changed files with 32 additions and 32 deletions.
diff --git a/dynamixel_2r/assets/hn05_i101__2.stl b/dynamixel_2r/assets/hn05_i101__2.stl
diff --git a/dynamixel_2r/assets/m2_5x12__configuration__12.stl b/dynamixel_2r/assets/m2_5x12__configuration__12.stl
diff --git a/dynamixel_2r/assets/m2_5x20__configuration__20.stl b/dynamixel_2r/assets/m2_5x20__configuration__20.stl
diff --git a/dynamixel_2r/assets/m2_5x6__configuration__6.stl b/dynamixel_2r/assets/m2_5x6__configuration__6.stl
diff --git a/dynamixel_2r/assets/m4x25__length__30.stl b/dynamixel_2r/assets/m4x25__length__30.stl
diff --git a/dynamixel_2r/assets/ecrou_2_5.stl → dynamixel_2r/assets/nut_2_5.stl b/dynamixel_2r/assets/ecrou_2_5.stl → dynamixel_2r/assets/nut_2_5.stl
diff --git a/dynamixel_2r/assets/ecrou_4.stl → dynamixel_2r/assets/nut_4.stl b/dynamixel_2r/assets/ecrou_4.stl → dynamixel_2r/assets/nut_4.stl
diff --git a/dynamixel_2r/robot.xml b/dynamixel_2r/robot.xml
@@ -20,16 +20,16 @@
     <!-- Link base_2 -->
     <body name="base_2" pos="0 0 0" quat="1 0 0 0" childclass="dynamixel_2r">
       <inertial pos="2.30111e-06 -0.000112826 0.572136" mass="0.24962" fullinertia="0.000178516 0.000198872 0.000154932 3.91579e-09 9.44129e-09 8.09383e-07"/>
-      <!-- Part ecrou_2_5 -->
-      <geom type="mesh" class="visual" pos="0.011 -0.01353 0.593" quat="0.5 0.5 -0.5 -0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+      <!-- Part nut_2_5 -->
+      <geom type="mesh" class="visual" pos="0.011 -0.01353 0.593" quat="0.5 0.5 -0.5 -0.5" mesh="nut_2_5" material="nut_2_5_material"/>
       <!-- Part m2_5x20 -->
       <geom type="mesh" class="visual" pos="0.0173 0.03097 0.5852" quat="0.5 0.5 -0.5 -0.5" mesh="m2_5x20" material="m2_5x20_material"/>
       <!-- Part dc08_m01_dummy -->
       <geom type="mesh" class="visual" pos="-4.66532e-36 -3e-05 0.5452" quat="0.707107 -0.707107 -0 -6.36971e-32" mesh="dc08_m01_dummy" material="dc08_m01_dummy_material"/>
-      <!-- Part ecrou_2_5_2 -->
-      <geom type="mesh" class="visual" pos="-0.0173 -0.01353 0.5852" quat="0.707107 0 2.22045e-16 -0.707107" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
-      <!-- Part ecrou_2_5_3 -->
-      <geom type="mesh" class="visual" pos="0.0173 -0.01353 0.5852" quat="0.707107 0 2.22045e-16 -0.707107" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+      <!-- Part nut_2_5_2 -->
+      <geom type="mesh" class="visual" pos="-0.0173 -0.01353 0.5852" quat="0.707107 0 2.22045e-16 -0.707107" mesh="nut_2_5" material="nut_2_5_material"/>
+      <!-- Part nut_2_5_3 -->
+      <geom type="mesh" class="visual" pos="0.0173 -0.01353 0.5852" quat="0.707107 0 2.22045e-16 -0.707107" mesh="nut_2_5" material="nut_2_5_material"/>
       <!-- Part m2_5x20_2 -->
       <geom type="mesh" class="visual" pos="0.011 -0.03097 0.593" quat="0.5 -0.5 -0.5 0.5" mesh="m2_5x20" material="m2_5x20_material"/>
       <!-- Part m2_5x20_3 -->
@@ -38,8 +38,8 @@
       <geom type="mesh" class="visual" pos="-0.0173 0.03097 0.5852" quat="0.5 0.5 -0.5 -0.5" mesh="m2_5x20" material="m2_5x20_material"/>
       <!-- Part hn05_i101 -->
       <geom type="mesh" class="visual" pos="3.46945e-18 4.00315e-19 0.5452" quat="0.707107 -0.707107 -0 -5.93393e-32" mesh="hn05_i101" material="hn05_i101_material"/>
-      <!-- Part ecrou_2_5_4 -->
-      <geom type="mesh" class="visual" pos="-0.011 -0.01353 0.593" quat="0.5 0.5 -0.5 -0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+      <!-- Part nut_2_5_4 -->
+      <geom type="mesh" class="visual" pos="-0.011 -0.01353 0.593" quat="0.5 0.5 -0.5 -0.5" mesh="nut_2_5" material="nut_2_5_material"/>
       <!-- Part m2_5x20_5 -->
       <geom type="mesh" class="visual" pos="-0.0173 -0.03097 0.5852" quat="0.5 -0.5 -0.5 0.5" mesh="m2_5x20" material="m2_5x20_material"/>
       <!-- Part m2_5x20_6 -->
@@ -93,8 +93,8 @@
         <geom type="mesh" class="visual" pos="-0.0173 -0.162 0.0055" quat="0.707107 9.81308e-18 -0.707107 1.11022e-16" mesh="m2_5x8" material="m2_5x8_material"/>
         <!-- Part m2_5x6_10 -->
         <geom type="mesh" class="visual" pos="0.011 1.11022e-16 0.05694" quat="0.707107 -0 0.707107 0" mesh="m2_5x6" material="m2_5x6_material"/>
-        <!-- Part ecrou_2_5_5 -->
-        <geom type="mesh" class="visual" pos="0.0173 -0.162 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+        <!-- Part nut_2_5_5 -->
+        <geom type="mesh" class="visual" pos="0.0173 -0.162 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="nut_2_5" material="nut_2_5_material"/>
         <!-- Part m2_5x6_11 -->
         <geom type="mesh" class="visual" pos="0.00777817 -0.00777817 -0.005" quat="0.707107 -0 -0.707107 -0" mesh="m2_5x6" material="m2_5x6_material"/>
         <!-- Part m2_5x8_3 -->
@@ -103,8 +103,8 @@
         <geom type="mesh" class="visual" pos="-9.8707e-17 -0.0706468 0.02597" quat="1 0 0 -2.00664e-16" mesh="mid_part" material="mid_part_material"/>
         <!-- Part first_segment_mix_2 -->
         <geom type="mesh" class="visual" pos="-3.2102e-14 -0.002 0.02594" quat="1.11531e-18 0 3.25261e-19 -1" mesh="first_segment_mix" material="first_segment_mix_material"/>
-        <!-- Part ecrou_2_5_6 -->
-        <geom type="mesh" class="visual" pos="0.0173 -0.14 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+        <!-- Part nut_2_5_6 -->
+        <geom type="mesh" class="visual" pos="0.0173 -0.14 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="nut_2_5" material="nut_2_5_material"/>
         <!-- Part m2_5x6_12 -->
         <geom type="mesh" class="visual" pos="-6.69808e-17 0.011 0.05694" quat="0.707107 -0 0.707107 0" mesh="m2_5x6" material="m2_5x6_material"/>
         <!-- Part m2_5x6_13 -->
@@ -115,8 +115,8 @@
         <geom type="mesh" class="visual" pos="0.0173 -0.14 0.0055" quat="0.707107 9.81308e-18 -0.707107 1.11022e-16" mesh="m2_5x8" material="m2_5x8_material"/>
         <!-- Part m2_5x12_4 -->
         <geom type="mesh" class="visual" pos="0.009 -0.0823234 0.05694" quat="0.707107 -0 0.707107 0" mesh="m2_5x12" material="m2_5x12_material"/>
-        <!-- Part ecrou_2_5_7 -->
-        <geom type="mesh" class="visual" pos="-0.0173 -0.14 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+        <!-- Part nut_2_5_7 -->
+        <geom type="mesh" class="visual" pos="-0.0173 -0.14 0.0395" quat="0.5 -0.5 -0.5 -0.5" mesh="nut_2_5" material="nut_2_5_material"/>
         <!-- Part m2_5x12_5 -->
         <geom type="mesh" class="visual" pos="0.009 -0.0353234 -0.005" quat="0.707107 -0 -0.707107 -0" mesh="m2_5x12" material="m2_5x12_material"/>
         <!-- Part m2_5x8_5 -->
@@ -125,8 +125,8 @@
         <geom type="mesh" class="visual" pos="0.0173 -0.162 0.0055" quat="0.707107 9.81308e-18 -0.707107 1.11022e-16" mesh="m2_5x8" material="m2_5x8_material"/>
         <!-- Part m2_5x6_15 -->
         <geom type="mesh" class="visual" pos="-2.00184e-17 -0.011 -0.005" quat="0.707107 -0 -0.707107 -0" mesh="m2_5x6" material="m2_5x6_material"/>
-        <!-- Part ecrou_2_5_8 -->
-        <geom type="mesh" class="visual" pos="-0.0173 -0.162 0.0395" quat="0.5 0.5 -0.5 0.5" mesh="ecrou_2_5" material="ecrou_2_5_material"/>
+        <!-- Part nut_2_5_8 -->
+        <geom type="mesh" class="visual" pos="-0.0173 -0.162 0.0395" quat="0.5 0.5 -0.5 0.5" mesh="nut_2_5" material="nut_2_5_material"/>
         <!-- Part m2_5x8_7 -->
         <geom type="mesh" class="visual" pos="-0.0173 -0.162 0.04644" quat="0.707107 0 0.707107 2.22045e-16" mesh="m2_5x8" material="m2_5x8_material"/>
         <!-- Part m2_5x12_6 -->
@@ -152,8 +152,8 @@
           <geom type="mesh" class="visual" pos="0.011 1.11022e-16 -0.005" quat="0.707107 0 -0.707107 0" mesh="m2_5x6" material="m2_5x6_material"/>
           <!-- Part m2_5x6_18 -->
           <geom type="mesh" class="visual" pos="-0.011 5.55112e-17 0.05194" quat="0.707107 -0 0.707107 -0" mesh="m2_5x6" material="m2_5x6_material"/>
-          <!-- Part ecrou_4 -->
-          <geom type="mesh" class="visual" pos="5.77316e-17 -0.14 0.03507" quat="0.707107 -0 0.707107 -0" mesh="ecrou_4" material="ecrou_4_material"/>
+          <!-- Part nut_4 -->
+          <geom type="mesh" class="visual" pos="5.77316e-17 -0.14 0.03507" quat="0.707107 -0 0.707107 -0" mesh="nut_4" material="nut_4_material"/>
           <!-- Part weight_985 -->
           <geom type="mesh" class="visual" pos="1.06581e-16 -0.18 0.02022" quat="0.707107 -0.707107 -0 1.1128e-16" mesh="weight_985" material="weight_985_material"/>
           <!-- Part m2_5x6_19 -->
@@ -162,8 +162,8 @@
           <geom type="mesh" class="visual" pos="1.38389e-16 0.011 0.05194" quat="0.707107 -0 0.707107 -0" mesh="m2_5x6" material="m2_5x6_material"/>
           <!-- Part m2_5x6_21 -->
           <geom type="mesh" class="visual" pos="-0.011 5.55112e-17 -0.005" quat="0.707107 0 -0.707107 0" mesh="m2_5x6" material="m2_5x6_material"/>
-          <!-- Part ecrou_4_2 -->
-          <geom type="mesh" class="visual" pos="1.06581e-16 -0.18 0.03507" quat="0.707107 -0 0.707107 -0" mesh="ecrou_4" material="ecrou_4_material"/>
+          <!-- Part nut_4_2 -->
+          <geom type="mesh" class="visual" pos="1.06581e-16 -0.18 0.03507" quat="0.707107 -0 0.707107 -0" mesh="nut_4" material="nut_4_material"/>
           <!-- Part m2_5x6_22 -->
           <geom type="mesh" class="visual" pos="-0.00777817 0.00777817 -0.005" quat="0.707107 0 -0.707107 0" mesh="m2_5x6" material="m2_5x6_material"/>
           <!-- Part m2_5x6_23 -->
@@ -199,22 +199,22 @@
     </body>
   </worldbody>
   <asset>
-    <mesh file="dc08_m01_dummy.stl"/>
     <mesh file="hn05_i101.stl"/>
+    <mesh file="m2_5x6.stl"/>
+    <mesh file="weight_985.stl"/>
+    <mesh file="first_segment_mix.stl"/>
     <mesh file="mid_part.stl"/>
-    <mesh file="m2_5x20.stl"/>
+    <mesh file="base_mx106.stl"/>
     <mesh file="dc05_m01_dummy.stl"/>
-    <mesh file="first_segment_mix.stl"/>
-    <mesh file="weight_985.stl"/>
-    <mesh file="m2_5x12.stl"/>
-    <mesh file="sw_mx64_segment.stl"/>
     <mesh file="m2_5x8.stl"/>
-    <mesh file="base_mx106.stl"/>
-    <mesh file="ecrou_2_5.stl"/>
-    <mesh file="ecrou_4.stl"/>
-    <mesh file="m2_5x6.stl"/>
+    <mesh file="m2_5x12.stl"/>
     <mesh file="m4x25.stl"/>
-    <material name="ecrou_2_5_material" rgba="0.690196 0.690196 0.690196 1"/>
+    <mesh file="m2_5x20.stl"/>
+    <mesh file="dc08_m01_dummy.stl"/>
+    <mesh file="nut_2_5.stl"/>
+    <mesh file="sw_mx64_segment.stl"/>
+    <mesh file="nut_4.stl"/>
+    <material name="nut_2_5_material" rgba="0.690196 0.690196 0.690196 1"/>
     <material name="m2_5x20_material" rgba="0.690196 0.690196 0.690196 1"/>
     <material name="dc08_m01_dummy_material" rgba="0.498039 0.498039 0.498039 1"/>
     <material name="hn05_i101_material" rgba="0.8 0.776471 0.713725 1"/>
@@ -226,7 +226,7 @@
     <material name="first_segment_mix_material" rgba="0.615686 0.811765 0.929412 1"/>
     <material name="m2_5x12_material" rgba="0.690196 0.690196 0.690196 1"/>
     <material name="sw_mx64_segment_material" rgba="0.615686 0.811765 0.929412 1"/>
-    <material name="ecrou_4_material" rgba="0.690196 0.690196 0.690196 1"/>
+    <material name="nut_4_material" rgba="0.690196 0.690196 0.690196 1"/>
     <material name="weight_985_material" rgba="0.301961 0.301961 0.301961 1"/>
     <material name="m4x25_material" rgba="0.690196 0.690196 0.690196 1"/>
   </asset>