added separate foot joints and updated lower limb vis and coll models

src/meldog_description/description/links/foot/LFF_link.urdf.xacro

@@ -1,6 +1,18 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <link name="LFF_link" />
+    <xacro:link_macro 
+        name="LFF_link" 
+        vis_name="${foot_vis_stl_name}" 
+        coll_name="${foot_coll_stl_name}" 
+
+        m="${foot_mass}" 
+        cm_x="${foot_cm_x}" 
+        cm_y="${foot_cm_y}" 
+        cm_z="${foot_cm_z}"
+
+        ixx="${foot_ixx}" ixy="${foot_ixy}" ixz="${foot_ixz}" 
+                          iyy="${foot_iyy}" iyz="${foot_iyz}" 
+                                            izz="${foot_izz}"/>
 
 </robot>

src/meldog_description/description/links/foot/LRF_link.urdf.xacro

@@ -1,6 +1,18 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <link name="LRF_link" />
+    <xacro:link_macro 
+        name="LRF_link" 
+        vis_name="${foot_vis_stl_name}" 
+        coll_name="${foot_coll_stl_name}" 
+
+        m="${foot_mass}" 
+        cm_x="${-foot_cm_x}" 
+        cm_y="${foot_cm_y}" 
+        cm_z="${foot_cm_z}"
+
+        ixx="${foot_ixx}" ixy="${-foot_ixy}" ixz="${-foot_ixz}" 
+                         iyy="${foot_iyy}" iyz="${foot_iyz}" 
+                                          izz="${foot_izz}"/>
 
 </robot>

src/meldog_description/description/links/foot/RFF_link.urdf.xacro

@@ -1,6 +1,19 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <link name="RFF_link" />
+    <xacro:link_macro 
+        name="RFF_link" 
+        vis_name="${foot_vis_stl_name}" 
+        coll_name="${foot_coll_stl_name}" 
+
+        m="${foot_mass}" 
+        cm_x="${foot_cm_x}" 
+        cm_y="${-foot_cm_y}" 
+        cm_z="${foot_cm_z}"
+
+        ixx="${foot_ixx}" ixy="${-foot_ixy}" ixz="${foot_ixz}" 
+                         iyy="${foot_iyy}" iyz="${-foot_iyz}" 
+                                          izz="${foot_izz}"/>
+
 
 </robot>

src/meldog_description/description/links/foot/RRF_link.urdf.xacro

@@ -1,6 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <link name="RRF_link" />
+    <xacro:link_macro 
+        name="RRF_link" 
+        vis_name="${foot_vis_stl_name}" 
+        coll_name="${foot_coll_stl_name}" 
 
+        m="${foot_mass}" 
+        cm_x="${-foot_cm_x}" 
+        cm_y="${-foot_cm_y}" 
+        cm_z="${foot_cm_z}"
+
+        ixx="${foot_ixx}" ixy="${foot_ixy}" ixz="${-foot_ixz}" 
+                         iyy="${foot_iyy}" iyz="${-foot_iyz}" 
+                                          izz="${foot_izz}"/>
 </robot>

src/meldog_description/description/links/hip/LRH_link.urdf.xacro

@@ -12,7 +12,7 @@
         cm_z="${hip_cm_z}"
 
         ixx="${hip_ixx}" ixy="${-hip_ixy}" ixz="${-hip_ixz}" 
-                         iyy="${hip_iyy}" iyz="${hip_iyz}" 
-                                          izz="${hip_izz}"/>
+                         iyy="${hip_iyy}"  iyz="${hip_iyz}" 
+                                           izz="${hip_izz}"/>
 
 </robot>

src/meldog_description/description/links/properties/F_properties.urdf.xacro

@@ -1,4 +1,28 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+    <!-- meshes -->
+    <xacro:property name="foot_vis_stl_name" value="foot_vis.stl" />
+    <xacro:property name="foot_coll_stl_name" value="foot_collision.stl" />
+
+    <!-- inertial properties -->
+
+        <!-- mass -->
+        <xacro:property name="foot_mass" value="0.037"/>
+
+        <!-- center of mass -->
+        <xacro:property name="foot_cm_x" value="0.0"/>
+        <xacro:property name="foot_cm_y" value="0.0"/>
+        <xacro:property name="foot_cm_z" value="-8.417"/>
+
+        <!-- tensor of inertia -->
+        <xacro:property name="foot_ixx" value="14.919"/>
+        <xacro:property name="foot_ixy" value="0.0"/>
+        <xacro:property name="foot_ixz" value="0.0"/>
+
+        <xacro:property name="foot_iyy" value="25.291"/>
+        <xacro:property name="foot_iyz" value="0.0"/>
+
+        <xacro:property name="foot_izz" value="23.390"/>
+
 </robot>

src/meldog_description/description/links/properties/LL_properties.urdf.xacro

@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
     <!-- meshes -->
-    <xacro:property name="lower_limb_vis_stl_name" value="lower_limb_test.stl" />
+    <xacro:property name="lower_limb_vis_stl_name" value="LL_vis_v2.stl" />
     <xacro:property name="lower_limb_coll_stl_name" value="lower_limb_collision.stl" />
 
     <!-- Limb dimensions -->
@@ -11,21 +11,21 @@
     <!-- inertial properties -->
 
         <!-- mass -->
-        <xacro:property name="lower_limb_mass" value="0.116"/>
+        <xacro:property name="lower_limb_mass" value="0.079"/>
 
         <!-- center of mass -->
-        <xacro:property name="lower_limb_cm_x" value="0.546"/>
+        <xacro:property name="lower_limb_cm_x" value="0.801"/>
         <xacro:property name="lower_limb_cm_y" value="0"/>
-        <xacro:property name="lower_limb_cm_z" value="-177.643"/>
+        <xacro:property name="lower_limb_cm_z" value="-139.836"/>
 
         <!-- moments of inertia -->
-        <xacro:property name="lower_limb_ixx" value="967.349"/>
-        <xacro:property name="lower_limb_ixy" value="0"/>
-        <xacro:property name="lower_limb_ixz" value="-4.842"/>
+        <xacro:property name="lower_limb_ixx" value="598.222"/>
+        <xacro:property name="lower_limb_ixy" value="0.0"/>
+        <xacro:property name="lower_limb_ixz" value="-2.447"/>
 
-        <xacro:property name="lower_limb_iyy" value="982.604"/>
-        <xacro:property name="lower_limb_iyz" value="-0.001"/>
+        <xacro:property name="lower_limb_iyy" value="603.088"/>
+        <xacro:property name="lower_limb_iyz" value="0.0"/>
 
-        <xacro:property name="lower_limb_izz" value="37.177"/>
+        <xacro:property name="lower_limb_izz" value="13.771"/>
 
 </robot>