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added separate property files for each type of link and joint
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28 changes: 28 additions & 0 deletions
28
src/meldog_description/description/joints/foot/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- meshes --> | ||
| <xacro:property name="hip_vis_stl_name" value="hip_test.stl" /> | ||
| <xacro:property name="hip_coll_stl_name" value="hip_collision.stl" /> | ||
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| <!-- inertial properties --> | ||
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| <!-- mass --> | ||
| <xacro:property name="hip_mass" value="3.607"/> | ||
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| <!-- center of mass --> | ||
| <xacro:property name="hip_cm_x" value="125.497"/> | ||
| <xacro:property name="hip_cm_y" value="20.770"/> | ||
| <xacro:property name="hip_cm_z" value="0.248"/> | ||
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| <!-- tensor of inertia --> | ||
| <xacro:property name="hip_ixx" value="4660.408"/> | ||
| <xacro:property name="hip_ixy" value="-338.226"/> | ||
| <xacro:property name="hip_ixz" value="0.847"/> | ||
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| <xacro:property name="hip_iyy" value="14607.423"/> | ||
| <xacro:property name="hip_iyz" value="49.927"/> | ||
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| <xacro:property name="hip_izz" value="13707.172"/> | ||
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| </robot> |
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src/meldog_description/description/joints/hip/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,7 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- upper limb dimensions --> | ||
| <xacro:property name="upper_limb_length" value="0.25" /> | ||
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| </robot> |
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src/meldog_description/description/joints/knee/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- upper limb dimensions --> | ||
| <xacro:property name="upper_limb_length" value="0.25" /> | ||
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| </robot> |
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src/meldog_description/description/joints/trunk/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- meshes --> | ||
| <xacro:property name="hip_vis_stl_name" value="hip_test.stl" /> | ||
| <xacro:property name="hip_coll_stl_name" value="hip_collision.stl" /> | ||
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| <!-- inertial properties --> | ||
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| <!-- mass --> | ||
| <xacro:property name="hip_mass" value="3.607"/> | ||
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| <!-- center of mass --> | ||
| <xacro:property name="hip_cm_x" value="125.497"/> | ||
| <xacro:property name="hip_cm_y" value="20.770"/> | ||
| <xacro:property name="hip_cm_z" value="0.248"/> | ||
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| <!-- tensor of inertia --> | ||
| <xacro:property name="hip_ixx" value="4660.408"/> | ||
| <xacro:property name="hip_ixy" value="-338.226"/> | ||
| <xacro:property name="hip_ixz" value="0.847"/> | ||
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| <xacro:property name="hip_iyy" value="14607.423"/> | ||
| <xacro:property name="hip_iyz" value="49.927"/> | ||
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| <xacro:property name="hip_izz" value="13707.172"/> | ||
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| </robot> |
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src/meldog_description/description/links/foot/LFF_link.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,10 +1,6 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="../../base_properties.urdf.xacro" /> | ||
| <xacro:include filename="../../macros/macros.urdf.xacro"/> | ||
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| <link name="LFF_link" /> | ||
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| </robot> |
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src/meldog_description/description/links/foot/LRF_link.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,10 +1,6 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="../../base_properties.urdf.xacro" /> | ||
| <xacro:include filename="../../macros/macros.urdf.xacro"/> | ||
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| <link name="LRF_link" /> | ||
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| </robot> |
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src/meldog_description/description/links/foot/RFF_link.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,6 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="../../base_properties.urdf.xacro" /> | ||
| <xacro:include filename="../../macros/macros.urdf.xacro"/> | ||
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| <link name="RFF_link" /> | ||
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| </robot> |
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src/meldog_description/description/links/foot/RRF_link.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,6 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <xacro:include filename="../../base_properties.urdf.xacro" /> | ||
| <xacro:include filename="../../macros/macros.urdf.xacro"/> | ||
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| <link name="RRF_link" /> | ||
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| </robot> |
4 changes: 4 additions & 0 deletions
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src/meldog_description/description/links/foot/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,4 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| </robot> |
4 changes: 0 additions & 4 deletions
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src/meldog_description/description/links/hip/LFH_link.urdf.xacro
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4 changes: 0 additions & 4 deletions
4
src/meldog_description/description/links/hip/LRH_link.urdf.xacro
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4 changes: 0 additions & 4 deletions
4
src/meldog_description/description/links/hip/RFH_link.urdf.xacro
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4 changes: 0 additions & 4 deletions
4
src/meldog_description/description/links/hip/RRH_link.urdf.xacro
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28 changes: 28 additions & 0 deletions
28
src/meldog_description/description/links/hip/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <!-- meshes --> | ||
| <xacro:property name="hip_vis_stl_name" value="hip_test.stl" /> | ||
| <xacro:property name="hip_coll_stl_name" value="hip_collision.stl" /> | ||
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| <!-- inertial properties --> | ||
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| <!-- mass --> | ||
| <xacro:property name="hip_mass" value="3.607"/> | ||
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| <!-- center of mass --> | ||
| <xacro:property name="hip_cm_x" value="125.497"/> | ||
| <xacro:property name="hip_cm_y" value="20.770"/> | ||
| <xacro:property name="hip_cm_z" value="0.248"/> | ||
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| <!-- tensor of inertia --> | ||
| <xacro:property name="hip_ixx" value="4660.408"/> | ||
| <xacro:property name="hip_ixy" value="-338.226"/> | ||
| <xacro:property name="hip_ixz" value="0.847"/> | ||
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| <xacro:property name="hip_iyy" value="14607.423"/> | ||
| <xacro:property name="hip_iyz" value="49.927"/> | ||
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| <xacro:property name="hip_izz" value="13707.172"/> | ||
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| </robot> |
3 changes: 0 additions & 3 deletions
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src/meldog_description/description/links/lower_limb/LFLL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/lower_limb/LRLL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/lower_limb/RFLL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/lower_limb/RRLL_link.urdf.xacro
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28 changes: 28 additions & 0 deletions
28
src/meldog_description/description/links/lower_limb/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <!-- meshes --> | ||
| <xacro:property name="lower_limb_vis_stl_name" value="lower_limb_test.stl" /> | ||
| <xacro:property name="lower_limb_coll_stl_name" value="lower_limb_collision.stl" /> | ||
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| <!-- inertial properties --> | ||
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| <!-- mass --> | ||
| <xacro:property name="lower_limb_mass" value="0.116"/> | ||
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| <!-- center of mass --> | ||
| <xacro:property name="lower_limb_cm_x" value="0.546"/> | ||
| <xacro:property name="lower_limb_cm_y" value="0"/> | ||
| <xacro:property name="lower_limb_cm_z" value="-177.643"/> | ||
|
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| <!-- 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"/> | ||
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| <xacro:property name="lower_limb_iyy" value="982.604"/> | ||
| <xacro:property name="lower_limb_iyz" value="-0.001"/> | ||
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| <xacro:property name="lower_limb_izz" value="37.177"/> | ||
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| </robot> |
3 changes: 0 additions & 3 deletions
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src/meldog_description/description/links/upper_limb/LFUL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/upper_limb/LRUL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/upper_limb/RFUL_link.urdf.xacro
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3 changes: 0 additions & 3 deletions
3
src/meldog_description/description/links/upper_limb/RRUL_link.urdf.xacro
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28 changes: 28 additions & 0 deletions
28
src/meldog_description/description/links/upper_limb/properties.urdf.xacro
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
|
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| <!-- meshes --> | ||
| <xacro:property name="upper_limb_vis_stl_name" value="upper_limb_test.stl" /> | ||
| <xacro:property name="upper_limb_coll_stl_name" value="upper_limb_collision.stl" /> | ||
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| <!-- inertial properties --> | ||
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| <!-- mass --> | ||
| <xacro:property name="upper_limb_mass" value="0.474"/> | ||
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| <!-- center of mass --> | ||
| <xacro:property name="upper_limb_cm_x" value="-1.185"/> | ||
| <xacro:property name="upper_limb_cm_y" value="-4.308"/> | ||
| <xacro:property name="upper_limb_cm_z" value="-94.203"/> | ||
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| <!-- moments of inertia --> | ||
| <xacro:property name="upper_limb_ixx" value="4064.505"/> | ||
| <xacro:property name="upper_limb_ixy" value="1.241"/> | ||
| <xacro:property name="upper_limb_ixz" value="19.989"/> | ||
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| <xacro:property name="upper_limb_iyy" value="4150.05"/> | ||
| <xacro:property name="upper_limb_iyz" value="235.648"/> | ||
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| <xacro:property name="upper_limb_izz" value="424.555"/> | ||
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| </robot> |
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