From 004d083ab751c37836d99d05b6bf23bc3b0400d7 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Wed, 19 Feb 2025 17:47:34 +0900
Subject: [PATCH] Restore find command

---
 .../urdf/openarm_grip.urdf                    | 40 ++++++++--------
 .../urdf/openarm_grip.xacro                   | 46 +++++++++----------
 2 files changed, 43 insertions(+), 43 deletions(-)

diff --git a/openarm_grip_description/urdf/openarm_grip.urdf b/openarm_grip_description/urdf/openarm_grip.urdf
index b82bbf6..ef776fb 100644
--- a/openarm_grip_description/urdf/openarm_grip.urdf
+++ b/openarm_grip_description/urdf/openarm_grip.urdf
@@ -176,14 +176,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -196,14 +196,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.0 -0.0 0.00225"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -216,14 +216,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.02975 0.0 -0.0425"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -236,14 +236,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 -0.06041 -0.052607"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -256,14 +256,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.029755 -0.298846 -0.0925"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -276,14 +276,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 -0.167496 -0.118765"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -296,14 +296,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.0355 -0.048796 -0.1425"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -316,14 +316,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 -0.051826 -0.15765"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -336,14 +336,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0775 0.069829 -0.169736"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -356,14 +356,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="silver"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.0775 0.069829 -0.169736"/>
       <geometry>
-        <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
diff --git a/openarm_grip_description/urdf/openarm_grip.xacro b/openarm_grip_description/urdf/openarm_grip.xacro
index e1e7ed7..ff55ff1 100644
--- a/openarm_grip_description/urdf/openarm_grip.xacro
+++ b/openarm_grip_description/urdf/openarm_grip.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0" ?>
 <robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-<xacro:include filename="package://openarm_grip_description/urdf/materials.xacro" />
-<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.trans" />
-<xacro:include filename="package://openarm_grip_description/urdf/openarm_grip.gazebo" />
+<xacro:include filename="$(find openarm_grip_description)/urdf/materials.xacro" />
+<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.trans" />
+<xacro:include filename="$(find openarm_grip_description)/urdf/openarm_grip.gazebo" />
 <link name="world"/>
 <joint name="world_joint" type="fixed">
   <parent link="world"/>
@@ -21,14 +21,14 @@
   <visual>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -42,14 +42,14 @@
   <visual>
     <origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="-0.0 -0.0 0.00225" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J2_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -63,14 +63,14 @@
   <visual>
     <origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="-0.02975 0.0 -0.0425" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J3_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -84,14 +84,14 @@
   <visual>
     <origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="0.0 -0.06041 -0.052607" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J4_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -105,14 +105,14 @@
   <visual>
     <origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="-0.029755 -0.298846 -0.0925" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J5_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -126,14 +126,14 @@
   <visual>
     <origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="0.0 -0.167496 -0.118765" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J6_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -147,14 +147,14 @@
   <visual>
     <origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="-0.0355 -0.048796 -0.1425" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/J7_v1_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -168,14 +168,14 @@
   <visual>
     <origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="0.0 -0.051826 -0.15765" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/grip_attach_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -189,14 +189,14 @@
   <visual>
     <origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="0.0775 0.069829 -0.169736" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/left_jaw_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -210,14 +210,14 @@
   <visual>
     <origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
     <origin xyz="-0.0775 0.069829 -0.169736" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="package://openarm_grip_description/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(find openarm_grip_description)/meshes/right_jaw_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>