From 165e3498eb78181941b7a965a11179217da86d71 Mon Sep 17 00:00:00 2001
From: Bartek <bartlomiejk@vp.pl>
Date: Tue, 17 Sep 2024 20:28:41 +0200
Subject: [PATCH] Added/edited comments

---
 .../description/joints/joint_macros.urdf.xacro              | 1 +
 .../description/joints/joint_properties.urdf.xacro          | 4 ++--
 .../description/links/feet/feet.urdf.xacro                  | 6 +++---
 .../description/links/hip/hip.urdf.xacro                    | 3 +--
 .../description/links/shank/shank.urdf.xacro                | 2 +-
 .../description/links/thigh/thigh.urdf.xacro                | 2 +-
 .../description/links/trunk/trunk.urdf.xacro                | 1 +
 .../description/meldog_core.urdf.xacro                      | 6 +++---
 .../description/meldog_gazebo.urdf.xacro                    | 4 ++--
 .../joints_hardware/joint_hardware_macros.urdf.xacro        | 1 +
 .../joints_hardware/joint_hardware_properties.urdf.xacro    | 2 +-
 .../description/ros2_control/ros2_control_core.urdf.xacro   | 6 +++---
 .../description/ros2_control/ros2_control_gazebo.urdf.xacro | 4 ++--
 .../transmission/transmission_macros.urdf.xacro             | 6 +++---
 14 files changed, 25 insertions(+), 23 deletions(-)

diff --git a/src/meldog_simple_description/description/joints/joint_macros.urdf.xacro b/src/meldog_simple_description/description/joints/joint_macros.urdf.xacro
index caed7cf..604c803 100644
--- a/src/meldog_simple_description/description/joints/joint_macros.urdf.xacro
+++ b/src/meldog_simple_description/description/joints/joint_macros.urdf.xacro
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_macros">
 
+    <!-- Joint macro for limits and dynamics -->
     <xacro:macro name ="joint_macro" params="lower upper">
         <limit lower="${lower}" upper="${upper}" effort="${joint_max_torque}" velocity="${joint_max_velocity}"/>
         <dynamics damping="${joint_damping}" friction="${joint_friction}"/>
diff --git a/src/meldog_simple_description/description/joints/joint_properties.urdf.xacro b/src/meldog_simple_description/description/joints/joint_properties.urdf.xacro
index 8320b56..122e1de 100644
--- a/src/meldog_simple_description/description/joints/joint_properties.urdf.xacro
+++ b/src/meldog_simple_description/description/joints/joint_properties.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_properties"> 
     
-    <!-- Limits for joints (lower and upper position): -->
+    <!-- Limits for joints (lower and upper position) -->
     <xacro:property name="H_lower_limit" value="-${PI/2}"/>
     <xacro:property name="H_upper_limit" value="${PI/2}"/>
     <xacro:property name="T_lower_limit" value="-${PI}"/>
@@ -13,7 +13,7 @@
     <xacro:property name="joint_max_velocity" value="20.2"/>
     <xacro:property name="joint_max_torque" value="30"/>
 
-    <!-- Joint properties -->
+    <!-- Joint dynamic properties -->
     <xacro:property name="joint_damping" value="0.0"/>
     <xacro:property name="joint_friction" value="0.0"/>
 
diff --git a/src/meldog_simple_description/description/links/feet/feet.urdf.xacro b/src/meldog_simple_description/description/links/feet/feet.urdf.xacro
index a7512e5..29b4263 100644
--- a/src/meldog_simple_description/description/links/feet/feet.urdf.xacro
+++ b/src/meldog_simple_description/description/links/feet/feet.urdf.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="meldog_feet">
 
-     <xacro:property name="feet_radius" value="0.06"/>
-     <xacro:property name="feet_mass" value="0.1"/>
-
+    <!-- Meldog feet (simple spheres) -->
+    <xacro:property name="feet_radius" value="0.06"/>
+    <xacro:property name="feet_mass" value="0.1"/>
 
     <xacro:macro name="feet_link" params="position">
         <link name="feet_${position}_link">
diff --git a/src/meldog_simple_description/description/links/hip/hip.urdf.xacro b/src/meldog_simple_description/description/links/hip/hip.urdf.xacro
index 487a65d..02b4789 100644
--- a/src/meldog_simple_description/description/links/hip/hip.urdf.xacro
+++ b/src/meldog_simple_description/description/links/hip/hip.urdf.xacro
@@ -2,11 +2,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_hip">
 
 
-
+    <!-- Meldog hips (simple boxes)-->
     <xacro:property name="hip_length" value="0.2"/>
     <xacro:property name="hip_width" value="0.15"/>
     <xacro:property name="hip_height" value="0.075"/>
-
     <xacro:property name="hip_mass" value="3.0"/>
 
     <xacro:macro name="hip_link" params="position">
diff --git a/src/meldog_simple_description/description/links/shank/shank.urdf.xacro b/src/meldog_simple_description/description/links/shank/shank.urdf.xacro
index f0b0d30..a430226 100644
--- a/src/meldog_simple_description/description/links/shank/shank.urdf.xacro
+++ b/src/meldog_simple_description/description/links/shank/shank.urdf.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_shank">
 
+    <!-- Meldog shank (simple cylinders) -->
     <xacro:property name="shank_length" value="0.5"/>
     <xacro:property name="shank_radius" value="0.05"/>
-
     <xacro:property name="shank_mass" value = "1.0"/>
 
     <xacro:macro name="shank_link" params="position">
diff --git a/src/meldog_simple_description/description/links/thigh/thigh.urdf.xacro b/src/meldog_simple_description/description/links/thigh/thigh.urdf.xacro
index 5e81f7d..f462040 100644
--- a/src/meldog_simple_description/description/links/thigh/thigh.urdf.xacro
+++ b/src/meldog_simple_description/description/links/thigh/thigh.urdf.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_thigh">
 
+    <!-- Meldog thigh (simple cylinders) -->
     <xacro:property name="thigh_length" value="0.5"/>
     <xacro:property name="thigh_radius" value="0.05"/>
-
     <xacro:property name="thigh_mass" value="1.0"/>
 
     <xacro:macro name="thigh_link" params="position">
diff --git a/src/meldog_simple_description/description/links/trunk/trunk.urdf.xacro b/src/meldog_simple_description/description/links/trunk/trunk.urdf.xacro
index 34b2dfb..3b92d81 100644
--- a/src/meldog_simple_description/description/links/trunk/trunk.urdf.xacro
+++ b/src/meldog_simple_description/description/links/trunk/trunk.urdf.xacro
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_trunk">
 
+    <!-- Meldog trunk (3 simple boxes) -->
     <xacro:property name="trunk_base_length" value="0.8" />
     <xacro:property name="trunk_base_width" value="0.2" />
     <xacro:property name="trunk_base_height" value="0.1" />
diff --git a/src/meldog_simple_description/description/meldog_core.urdf.xacro b/src/meldog_simple_description/description/meldog_core.urdf.xacro
index b33e208..383f566 100644
--- a/src/meldog_simple_description/description/meldog_core.urdf.xacro
+++ b/src/meldog_simple_description/description/meldog_core.urdf.xacro
@@ -4,11 +4,11 @@
     <!-- PI -->
     <xacro:property name="PI" value="3.1415926535897"/>
 
-    <!-- Joint properties and macros: -->
+    <!-- Joint properties and macros -->
     <xacro:include filename="joints/joint_properties.urdf.xacro"/>
     <xacro:include filename="joints/joint_macros.urdf.xacro"/>
 
-    <!-- LINKS: -->
+    <!-- LINKS -->
     <!-- Base link spawns in x= 0.0 y = 0.0 z = 0.0 -->
     <link name="base_link"></link>
 
@@ -45,7 +45,7 @@
     <xacro:feet_link position="back_left"/>
     <xacro:feet_link position="back_right"/>
 
-    <!-- JOINTS: -->   
+    <!-- JOINTS -->   
 
     <!-- Base to Trunk joint -->
     <joint name="BT_joint" type="fixed">
diff --git a/src/meldog_simple_description/description/meldog_gazebo.urdf.xacro b/src/meldog_simple_description/description/meldog_gazebo.urdf.xacro
index af40456..9c8b37b 100644
--- a/src/meldog_simple_description/description/meldog_gazebo.urdf.xacro
+++ b/src/meldog_simple_description/description/meldog_gazebo.urdf.xacro
@@ -7,7 +7,7 @@
     <!-- Gazebo macros -->
     <xacro:include filename="gazebo/gazebo_macros.urdf.xacro"/>
 
-    <!-- LINKS: -->
+    <!-- LINKS -->
     <!-- Trunk link -->
     <xacro:gazebo_link link_name="trunk" color="Blue" selfCollide_value ="true"/>
 
@@ -36,7 +36,7 @@
     <xacro:gazebo_link link_name="feet_back_right" color="Pink" selfCollide_value ="true"/>
 
 
-    <!-- JOINTS (only revolute): -->
+    <!-- JOINTS (only revolute) -->
     <!-- Trunk to Hips joints-->
     <xacro:gazebo_joint joint_name="FLH"/>
     <xacro:gazebo_joint joint_name="FRH"/>
diff --git a/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_macros.urdf.xacro b/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_macros.urdf.xacro
index 3c2d1d9..ac32c42 100644
--- a/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_macros.urdf.xacro
+++ b/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_macros.urdf.xacro
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="joint_hardware_macros">
 
+    <!-- JMotor and actuator macro for ros2_control hardware interface -->
     <xacro:macro name="joint_hardware_macro" params="joint_name upper lower">
         <joint name="${joint_name}_joint">
             <command_interface name="position">
diff --git a/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_properties.urdf.xacro b/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_properties.urdf.xacro
index 05affec..f2c9b8f 100644
--- a/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_properties.urdf.xacro
+++ b/src/meldog_simple_description/description/ros2_control/joints_hardware/joint_hardware_properties.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="joint_hardware_properties">
 
-    <!-- Actuator and motor parameters: -->
+    <!-- Actuator and motor parameters -->
     <xacro:property name="actuator_gear_ratio" value="9.97"/>
     <xacro:property name="motor_max_velocity" value="${actuator_gear_ratio*20.2}"/>
     <xacro:property name="motor_max_torque" value="${30.0/actuator_gear_ratio}"/>
diff --git a/src/meldog_simple_description/description/ros2_control/ros2_control_core.urdf.xacro b/src/meldog_simple_description/description/ros2_control/ros2_control_core.urdf.xacro
index b5126c8..0862eda 100644
--- a/src/meldog_simple_description/description/ros2_control/ros2_control_core.urdf.xacro
+++ b/src/meldog_simple_description/description/ros2_control/ros2_control_core.urdf.xacro
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_ros2_control_core">
 
-    <!-- Joint hardware properties and macros: -->
+    <!-- Joint hardware properties and macros -->
     <xacro:include filename="joints_hardware/joint_hardware_properties.urdf.xacro"/>
     <xacro:include filename="joints_hardware/joint_hardware_macros.urdf.xacro"/>
 
-    <!-- Transmissions: -->
+    <!-- Transmissions -->
     <xacro:include filename="transmission/transmission_macros.urdf.xacro"/>
 
-    <!-- Hardware interface for Gazebo: -->
+    <!-- Hardware interface for Gazebo -->
 
     <!-- Trunk to Hips joints-->
     <xacro:joint_hardware_macro joint_name="FLH" lower="${motor_lower_limit}" upper="${motor_upper_limit}"/>
diff --git a/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro b/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro
index 5507615..5c9ec2e 100644
--- a/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro
+++ b/src/meldog_simple_description/description/ros2_control/ros2_control_gazebo.urdf.xacro
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "meldog_ros2_control_gazebo">
 
-    <!-- ROS2 Control for Gazebo: -->
+    <!-- ROS2 Control for Gazebo -->
     <ros2_control name="meldog_gazebo" type="system">
         <hardware>  
             <plugin>ign_ros2_control/IgnitionSystem</plugin>
         </hardware>
 
-        <!-- ROS2 Control core xacro file: -->
+        <!-- ROS2 Control core xacro file -->
         <xacro:include filename="ros2_control_core.urdf.xacro"/>   
 
     </ros2_control>
diff --git a/src/meldog_simple_description/description/ros2_control/transmission/transmission_macros.urdf.xacro b/src/meldog_simple_description/description/ros2_control/transmission/transmission_macros.urdf.xacro
index 7505125..71cab3f 100644
--- a/src/meldog_simple_description/description/ros2_control/transmission/transmission_macros.urdf.xacro
+++ b/src/meldog_simple_description/description/ros2_control/transmission/transmission_macros.urdf.xacro
@@ -34,15 +34,15 @@
         </transmission>
     </xacro:macro>
 
-    <!-- Meldog Transmissions: -->
+    <!-- Meldog Transmissions -->
 
-    <!-- Trunk to Hips transmissions: -->
+    <!-- Trunk to Hips transmissions -->
     <xacro:SimpleTransmission joint_name="FLH" reduction="${actuator_gear_ratio}" offset="0.0"/>
     <xacro:SimpleTransmission joint_name="FRH" reduction="${actuator_gear_ratio}" offset="0.0"/>
     <xacro:SimpleTransmission joint_name="BLH" reduction="${actuator_gear_ratio}" offset="0.0"/>
     <xacro:SimpleTransmission joint_name="BRH" reduction="${actuator_gear_ratio}" offset="0.0"/>
 
-    <!-- Thighs to Shanks transmissions: -->
+    <!-- Thighs to Shanks transmissions -->
     <xacro:FourBarLinkageTransmission first_joint_name="FLT" second_joint_name="FLS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>
     <xacro:FourBarLinkageTransmission first_joint_name="FRT" second_joint_name="FRS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>
     <xacro:FourBarLinkageTransmission first_joint_name="BLT" second_joint_name="BLS" reduction="${actuator_gear_ratio}" first_offset="0.0" second_offset="0.0"/>