added properties folders for links and joints, moved link and joint p…

…roperties to the newly created folders
KNR-PW · Oct 27, 2024 · 58eb293 · 58eb293
1 parent fddeab9
commit 58eb293
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Showing 18 changed files with 71 additions and 93 deletions.
diff --git a/src/meldog_description/description/joints/foot/properties.urdf.xacro b/src/meldog_description/description/joints/foot/properties.urdf.xacro
diff --git a/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
@@ -4,14 +4,14 @@
     <joint name="LFH_joint" type="revolute">
         <parent link="LFH_link" /> 
         <child link="LFUL_link" />
-        <origin xyz="${hip_upper_limb_x}
-                     ${hip_upper_limb_y}
-                     ${hip_upper_limb_z}" 
+        <origin xyz="${H_x}
+                     ${H_y}
+                     ${H_z}" 
                 rpy="0 0 0" />
-        <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" 
-               upper="${hip_upper_limb_upper_limit/180.0*pi}" 
-               effort="${hip_upper_limb_effort}" 
-               velocity="${hip_upper_limb_velocity}" />
+        <limit lower="${H_lower_limit/180.0*pi}" 
+               upper="${H_upper_limit/180.0*pi}" 
+               effort="${H_effort}" 
+               velocity="${H_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
@@ -4,14 +4,14 @@
     <joint name="LRH_joint" type="revolute">
         <parent link="LRH_link" /> 
         <child link="LRUL_link" />
-        <origin xyz="${-hip_upper_limb_x}
-                     ${hip_upper_limb_y}
-                     ${hip_upper_limb_z}" 
+        <origin xyz="${-H_x}
+                     ${H_y}
+                     ${H_z}" 
                 rpy="0 0 0" />
-        <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" 
-               upper="${hip_upper_limb_upper_limit/180.0*pi}" 
-               effort="${hip_upper_limb_effort}" 
-               velocity="${hip_upper_limb_velocity}" />
+        <limit lower="${H_lower_limit/180.0*pi}" 
+               upper="${H_upper_limit/180.0*pi}" 
+               effort="${H_effort}" 
+               velocity="${H_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
@@ -4,14 +4,14 @@
     <joint name="RFH_joint" type="revolute">
         <parent link="RFH_link" /> 
         <child link="RFUL_link" />
-        <origin xyz="${hip_upper_limb_x}
-                     ${-hip_upper_limb_y}
-                     ${hip_upper_limb_z}" 
+        <origin xyz="${H_x}
+                     ${-H_y}
+                     ${H_z}" 
                 rpy="0 0 0" />
-        <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" 
-               upper="${hip_upper_limb_upper_limit/180.0*pi}" 
-               effort="${hip_upper_limb_effort}" 
-               velocity="${hip_upper_limb_velocity}" />
+        <limit lower="${H_lower_limit/180.0*pi}" 
+               upper="${H_upper_limit/180.0*pi}" 
+               effort="${H_effort}" 
+               velocity="${H_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
@@ -4,14 +4,14 @@
     <joint name="RRH_joint" type="revolute">
         <parent link="RRH_link" /> 
         <child link="RRUL_link" />
-        <origin xyz="${-hip_upper_limb_x}
-                     ${-hip_upper_limb_y}
-                     ${hip_upper_limb_z}" 
+        <origin xyz="${-H_x}
+                     ${-H_y}
+                     ${H_z}" 
                 rpy="0 0 0" />
-        <limit lower="${hip_upper_limb_lower_limit/180.0*pi}" 
-               upper="${hip_upper_limb_upper_limit/180.0*pi}" 
-               effort="${hip_upper_limb_effort}" 
-               velocity="${hip_upper_limb_velocity}" />
+        <limit lower="${H_lower_limit/180.0*pi}" 
+               upper="${H_upper_limit/180.0*pi}" 
+               effort="${H_effort}" 
+               velocity="${H_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${upper_limb_lower_limb_velocity}" />
+        <limit lower="${K_lower_limit/180.0*pi}" 
+            upper="${K_upper_limit/180.0*pi}" 
+            effort="${K_effort}" 
+            velocity="${K_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${upper_limb_lower_limb_velocity}" />
+        <limit lower="${K_lower_limit/180.0*pi}" 
+               upper="${K_upper_limit/180.0*pi}" 
+               effort="${K_effort}" 
+               velocity="${K_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${upper_limb_lower_limb_velocity}" />
+        <limit lower="${K_lower_limit/180.0*pi}" 
+               upper="${K_upper_limit/180.0*pi}" 
+               effort="${K_effort}" 
+               velocity="${K_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${upper_limb_lower_limb_velocity}" />
+        <limit lower="${K_lower_limit/180.0*pi}" 
+               upper="${K_upper_limit/180.0*pi}" 
+               effort="${K_effort}" 
+               velocity="${K_velocity}" />
         <axis xyz="0 1 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/trunk/LFT_joint.urdf.xacro b/src/meldog_description/description/joints/trunk/LFT_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${trunk_hip_velocity}" />
+        <limit lower="${T_lower_limit/180.0*pi}" 
+               upper="${T_upper_limit/180.0*pi}" 
+               effort="${T_effort}" 
+               velocity="${T_velocity}" />
         <axis xyz="1 0 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/trunk/LRT_joint.urdf.xacro b/src/meldog_description/description/joints/trunk/LRT_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${trunk_hip_velocity}" />
+        <limit lower="${T_lower_limit/180.0*pi}" 
+               upper="${T_upper_limit/180.0*pi}" 
+               effort="${T_effort}" 
+               velocity="${T_velocity}" />
         <axis xyz="1 0 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/trunk/RFT_joint.urdf.xacro b/src/meldog_description/description/joints/trunk/RFT_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${trunk_hip_velocity}" />
+        <limit lower="${T_lower_limit/180.0*pi}" 
+               upper="${T_upper_limit/180.0*pi}" 
+               effort="${T_effort}" 
+               velocity="${T_velocity}" />
         <axis xyz="-1 0 0" />
     </joint>
 

diff --git a/src/meldog_description/description/joints/trunk/RRT_joint.urdf.xacro b/src/meldog_description/description/joints/trunk/RRT_joint.urdf.xacro
@@ -5,10 +5,10 @@
         <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="${trunk_hip_velocity}" />
+        <limit lower="${T_lower_limit/180.0*pi}" 
+               upper="${T_upper_limit/180.0*pi}" 
+               effort="${T_effort}" 
+               velocity="${T_velocity}" />
         <axis xyz="-1 0 0" />
     </joint>
 

diff --git a/...iption/links/foot/F_properties.urdf.xacro → .../links/properties/F_properties.urdf.xacro b/...iption/links/foot/F_properties.urdf.xacro → .../links/properties/F_properties.urdf.xacro
diff --git a/...ription/links/hip/H_properties.urdf.xacro → .../links/properties/H_properties.urdf.xacro b/...ription/links/hip/H_properties.urdf.xacro → .../links/properties/H_properties.urdf.xacro
diff --git a/...links/lower_limb/LL_properties.urdf.xacro → ...links/properties/LL_properties.urdf.xacro b/...links/lower_limb/LL_properties.urdf.xacro → ...links/properties/LL_properties.urdf.xacro
diff --git a/...links/upper_limb/UL_properties.urdf.xacro → ...links/properties/UL_properties.urdf.xacro b/...links/upper_limb/UL_properties.urdf.xacro → ...links/properties/UL_properties.urdf.xacro
diff --git a/src/meldog_description/description/meldog_core.urdf.xacro b/src/meldog_description/description/meldog_core.urdf.xacro
@@ -1,14 +1,20 @@
 <?xml version="1.0"?>
 <robot name="meldog_core" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:include filename="base_properties.urdf.xacro" />
+    <!-- <xacro:include filename="base_properties.urdf.xacro" /> -->
     <xacro:include filename="macros/macros.urdf.xacro" />
 
     <!-- Link properties -->
-    <xacro:include filename="links/foot/F_properties.urdf.xacro"/>
-    <xacro:include filename="links/hip/H_properties.urdf.xacro"/>
-    <xacro:include filename="links/lower_limb/LL_properties.urdf.xacro"/>
-    <xacro:include filename="links/upper_limb/UL_properties.urdf.xacro"/>
+    <xacro:include filename="links/properties/F_properties.urdf.xacro"/>
+    <xacro:include filename="links/properties/H_properties.urdf.xacro"/>
+    <xacro:include filename="links/properties/LL_properties.urdf.xacro"/>
+    <xacro:include filename="links/properties/UL_properties.urdf.xacro"/>
+
+    <!-- Joint properties -->
+    <xacro:include filename="joints/properties/T_joint_properties.urdf.xacro"/>
+    <xacro:include filename="joints/properties/H_joint_properties.urdf.xacro"/>
+    <xacro:include filename="joints/properties/K_joint_properties.urdf.xacro"/>
+
 
     <!-- LINKS -->