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renamed joints for better readability
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@Kafel1997
Kafel1997 committed Oct 26, 2024
1 parent 2cada6e commit 7cdb8fc
Showing 1 changed file with 15 additions and 28 deletions.
43 changes: 15 additions & 28 deletions src/meldog_description/description/meldog_core.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@


<!-- left front leg joints -->
<joint name="lf_hip_upper_limb_joint" type="revolute">
<joint name="LFH_joint" type="revolute">
<parent link="LFH_link" />
<child link="LFUL_link" />
<origin xyz="${hip_upper_limb_x}
Expand All @@ -76,11 +76,9 @@
effort="${hip_upper_limb_effort}"
velocity="${hip_upper_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />

</joint>

<joint name="lf_upper_limb_lower_limb_joint" type="revolute">
<joint name="LFK_joint" type="revolute">
<parent link="LFUL_link" />
<child link="LFLL_link" />
<origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" />
Expand All @@ -89,16 +87,15 @@
effort="${upper_limb_lower_limb_effort}"
velocity="${upper_limb_lower_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="lf_lower_limb_foot_joint" type="fixed">
<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>

<joint name="lf_trunk_hip_joint" type="revolute">
<joint name="LFT_joint" type="revolute">
<parent link="trunk_link" />
<child link="LFH_link" />
<origin xyz="${trunk_actuators_length/2.0} ${(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" />
Expand All @@ -107,12 +104,11 @@
effort="${trunk_hip_effort}"
velocity="${trunk_hip_velocity}" />
<axis xyz="1 0 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>


<!-- Right front leg joints -->
<joint name="rf_trunk_hip_joint" type="revolute">
<joint name="RFT_joint" type="revolute">
<parent link="trunk_link" />
<child link="RFH_link" />
<origin xyz="${trunk_actuators_length/2.0} ${-(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" />
Expand All @@ -121,10 +117,9 @@
effort="${trunk_hip_effort}"
velocity="${trunk_hip_velocity}" />
<axis xyz="-1 0 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rf_hip_upper_limb_joint" type="revolute">
<joint name="RFH_joint" type="revolute">
<parent link="RFH_link" />
<child link="RFUL_link" />
<origin xyz="${hip_upper_limb_x}
Expand All @@ -136,10 +131,9 @@
effort="${hip_upper_limb_effort}"
velocity="${hip_upper_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rf_upper_limb_lower_limb_joint" type="revolute">
<joint name="RFK_joint" type="revolute">
<parent link="RFUL_link" />
<child link="RFLL_link" />
<origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" />
Expand All @@ -148,7 +142,6 @@
effort="${upper_limb_lower_limb_effort}"
velocity="${upper_limb_lower_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rf_lower_limb_foot_joint" type="fixed">
Expand All @@ -159,7 +152,7 @@


<!-- Left rear leg joints -->
<joint name="lr_hip_upper_limb_joint" type="revolute">
<joint name="LRH_joint" type="revolute">
<parent link="LRH_link" />
<child link="LRUL_link" />
<origin xyz="${-hip_upper_limb_x}
Expand All @@ -171,10 +164,9 @@
effort="${hip_upper_limb_effort}"
velocity="${hip_upper_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="lr_upper_limb_lower_limb_joint" type="revolute">
<joint name="LRK_joint" type="revolute">
<parent link="LRUL_link" />
<child link="LRLL_link" />
<origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" />
Expand All @@ -183,16 +175,15 @@
effort="${upper_limb_lower_limb_effort}"
velocity="${upper_limb_lower_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="lr_lower_limb_foot_joint" type="fixed">
<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>

<joint name="lr_trunk_hip_joint" type="revolute">
<joint name="LRT_joint" type="revolute">
<parent link="trunk_link" />
<child link="LRH_link" />
<origin xyz="${-trunk_actuators_length/2.0} ${(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" />
Expand All @@ -201,11 +192,10 @@
effort="${trunk_hip_effort}"
velocity="${trunk_hip_velocity}" />
<axis xyz="1 0 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<!-- Right rear leg joints -->
<joint name="rr_trunk_hip_joint" type="revolute">
<joint name="RRT_joint" type="revolute">
<parent link="trunk_link" />
<child link="RRH_link" />
<origin xyz="${-trunk_actuators_length/2.0} ${-(trunk_base_width+trunk_actuators_width)/2.0} 0" rpy="0 0 0" />
Expand All @@ -214,10 +204,9 @@
effort="${trunk_hip_effort}"
velocity="${trunk_hip_velocity}" />
<axis xyz="-1 0 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rr_hip_upper_limb_joint" type="revolute">
<joint name="RRH_joint" type="revolute">
<parent link="RRH_link" />
<child link="RRUL_link" />
<origin xyz="${-hip_upper_limb_x}
Expand All @@ -229,10 +218,9 @@
effort="${hip_upper_limb_effort}"
velocity="${hip_upper_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rr_upper_limb_lower_limb_joint" type="revolute">
<joint name="RRK_joint" type="revolute">
<parent link="RRUL_link" />
<child link="RRLL_link" />
<origin xyz="0 0 ${-upper_limb_length}" rpy="0 0 0" />
Expand All @@ -241,10 +229,9 @@
effort="${upper_limb_lower_limb_effort}"
velocity="${upper_limb_lower_limb_velocity}" />
<axis xyz="0 1 0" />
<dynamics damping="${test_damping}" friction="${test_friction}" />
</joint>

<joint name="rr_lower_limb_foot_joint" type="fixed">
<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" />
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