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moved joints to separate files in joints folder
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10 changes: 10 additions & 0 deletions
10
src/meldog_description/description/joints/foot/LFF_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <joint name="LFF_joint" type="fixed"> | ||
| <parent link="LFLL_link" /> | ||
| <child link="LFF_link" /> | ||
| <origin xyz="0 0 ${-lower_limb_length_to_foot}" rpy="0 0 0" /> | ||
| </joint> | ||
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| </robot> |
10 changes: 10 additions & 0 deletions
10
src/meldog_description/description/joints/foot/LRF_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <joint name="LRF_joint" type="fixed"> | ||
| <parent link="LRLL_link" /> | ||
| <child link="LRF_link" /> | ||
| <origin xyz="0 0 ${-lower_limb_length_to_foot}" rpy="0 0 0" /> | ||
| </joint> | ||
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| </robot> |
10 changes: 10 additions & 0 deletions
10
src/meldog_description/description/joints/foot/RFF_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <joint name="RFF_joint" type="fixed"> | ||
| <parent link="RFLL_link" /> | ||
| <child link="RFF_link" /> | ||
| <origin xyz="0 0 ${-lower_limb_length_to_foot}" rpy="0 0 0" /> | ||
| </joint> | ||
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| </robot> |
10 changes: 10 additions & 0 deletions
10
src/meldog_description/description/joints/foot/RRF_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <joint name="RRF_joint" type="fixed"> | ||
| <parent link="RRLL_link" /> | ||
| <child link="RRF_link" /> | ||
| <origin xyz="0 0 ${-lower_limb_length_to_foot}" rpy="0 0 0" /> | ||
| </joint> | ||
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| </robot> |
18 changes: 18 additions & 0 deletions
18
src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <joint name="LFH_joint" type="revolute"> | ||
| <parent link="LFH_link" /> | ||
| <child link="LFUL_link" /> | ||
| <origin xyz="${hip_upper_limb_x} | ||
| ${hip_upper_limb_y} | ||
| ${hip_upper_limb_z}" | ||
| rpy="0 0 0" /> | ||
| <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" | ||
| upper="${hip_upper_limb_upper_limit/180.0*pi}" | ||
| effort="${hip_upper_limb_effort}" | ||
| velocity="${hip_upper_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
18 changes: 18 additions & 0 deletions
18
src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="LRH_joint" type="revolute"> | ||
| <parent link="LRH_link" /> | ||
| <child link="LRUL_link" /> | ||
| <origin xyz="${-hip_upper_limb_x} | ||
| ${hip_upper_limb_y} | ||
| ${hip_upper_limb_z}" | ||
| rpy="0 0 0" /> | ||
| <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" | ||
| upper="${hip_upper_limb_upper_limit/180.0*pi}" | ||
| effort="${hip_upper_limb_effort}" | ||
| velocity="${hip_upper_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
18 changes: 18 additions & 0 deletions
18
src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="RFH_joint" type="revolute"> | ||
| <parent link="RFH_link" /> | ||
| <child link="RFUL_link" /> | ||
| <origin xyz="${hip_upper_limb_x} | ||
| ${-hip_upper_limb_y} | ||
| ${hip_upper_limb_z}" | ||
| rpy="0 0 0" /> | ||
| <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" | ||
| upper="${hip_upper_limb_upper_limit/180.0*pi}" | ||
| effort="${hip_upper_limb_effort}" | ||
| velocity="${hip_upper_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
18 changes: 18 additions & 0 deletions
18
src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="RRH_joint" type="revolute"> | ||
| <parent link="RRH_link" /> | ||
| <child link="RRUL_link" /> | ||
| <origin xyz="${-hip_upper_limb_x} | ||
| ${-hip_upper_limb_y} | ||
| ${hip_upper_limb_z}" | ||
| rpy="0 0 0" /> | ||
| <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" | ||
| upper="${hip_upper_limb_upper_limit/180.0*pi}" | ||
| effort="${hip_upper_limb_effort}" | ||
| velocity="${hip_upper_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="LFK_joint" type="revolute"> | ||
| <parent link="LFUL_link" /> | ||
| <child link="LFLL_link" /> | ||
| <origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" /> | ||
| <limit lower="${upper_limb_lower_limb_lower_limit/180.0*pi}" | ||
| upper="${upper_limb_lower_limb_upper_limit/180.0*pi}" | ||
| effort="${upper_limb_lower_limb_effort}" | ||
| velocity="${upper_limb_lower_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="LRK_joint" type="revolute"> | ||
| <parent link="LRUL_link" /> | ||
| <child link="LRLL_link" /> | ||
| <origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" /> | ||
| <limit lower="${upper_limb_lower_limb_lower_limit/180.0*pi}" | ||
| upper="${upper_limb_lower_limb_upper_limit/180.0*pi}" | ||
| effort="${upper_limb_lower_limb_effort}" | ||
| velocity="${upper_limb_lower_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
|
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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||
| <joint name="RFK_joint" type="revolute"> | ||
| <parent link="RFUL_link" /> | ||
| <child link="RFLL_link" /> | ||
| <origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" /> | ||
| <limit lower="${upper_limb_lower_limb_lower_limit/180.0*pi}" | ||
| upper="${upper_limb_lower_limb_upper_limit/180.0*pi}" | ||
| effort="${upper_limb_lower_limb_effort}" | ||
| velocity="${upper_limb_lower_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="RRK_joint" type="revolute"> | ||
| <parent link="RRUL_link" /> | ||
| <child link="RRLL_link" /> | ||
| <origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" /> | ||
| <limit lower="${upper_limb_lower_limb_lower_limit/180.0*pi}" | ||
| upper="${upper_limb_lower_limb_upper_limit/180.0*pi}" | ||
| effort="${upper_limb_lower_limb_effort}" | ||
| velocity="${upper_limb_lower_limb_velocity}" /> | ||
| <axis xyz="0 1 0" /> | ||
| </joint> | ||
|
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/trunk/LFT_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="LFT_joint" type="revolute"> | ||
| <parent link="trunk_link" /> | ||
| <child link="LFH_link" /> | ||
| <origin xyz="${trunk_actuators_length/2.0} ${(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" /> | ||
| <limit lower="${trunk_hip_lower_limit/180.0*pi}" | ||
| upper="${trunk_hip_upper_limit/180.0*pi}" | ||
| effort="${trunk_hip_effort}" | ||
| velocity="${trunk_hip_velocity}" /> | ||
| <axis xyz="1 0 0" /> | ||
| </joint> | ||
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/trunk/LRT_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="LRT_joint" type="revolute"> | ||
| <parent link="trunk_link" /> | ||
| <child link="LRH_link" /> | ||
| <origin xyz="${-trunk_actuators_length/2.0} ${(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" /> | ||
| <limit lower="${trunk_hip_lower_limit/180.0*pi}" | ||
| upper="${trunk_hip_upper_limit/180.0*pi}" | ||
| effort="${trunk_hip_effort}" | ||
| velocity="${trunk_hip_velocity}" /> | ||
| <axis xyz="1 0 0" /> | ||
| </joint> | ||
|
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/trunk/RFT_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <joint name="RFT_joint" type="revolute"> | ||
| <parent link="trunk_link" /> | ||
| <child link="RFH_link" /> | ||
| <origin xyz="${trunk_actuators_length/2.0} ${-(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" /> | ||
| <limit lower="${trunk_hip_lower_limit/180.0*pi}" | ||
| upper="${trunk_hip_upper_limit/180.0*pi}" | ||
| effort="${trunk_hip_effort}" | ||
| velocity="${trunk_hip_velocity}" /> | ||
| <axis xyz="-1 0 0" /> | ||
| </joint> | ||
|
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| </robot> |
15 changes: 15 additions & 0 deletions
15
src/meldog_description/description/joints/trunk/RRT_joint.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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||
| <joint name="RRT_joint" type="revolute"> | ||
| <parent link="trunk_link" /> | ||
| <child link="RRH_link" /> | ||
| <origin xyz="${-trunk_actuators_length/2.0} ${-(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" /> | ||
| <limit lower="${trunk_hip_lower_limit/180.0*pi}" | ||
| upper="${trunk_hip_upper_limit/180.0*pi}" | ||
| effort="${trunk_hip_effort}" | ||
| velocity="${trunk_hip_velocity}" /> | ||
| <axis xyz="-1 0 0" /> | ||
| </joint> | ||
|
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| </robot> |
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