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included link properties in main urdf, created base link and base joint
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@Kafel1997
Kafel1997 committed Oct 27, 2024
1 parent ff4ac3b commit ca81e15
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Showing 3 changed files with 142 additions and 102 deletions.
79 changes: 0 additions & 79 deletions src/meldog_description/description/base_properties.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,85 +1,6 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- stl mesh names for each link in leg -->

<!-- visual tag meshes -->
<xacro:property name="hip_vis_stl_name" value="hip_test.stl" />
<xacro:property name="upper_limb_vis_stl_name" value="upper_limb_test.stl" />
<xacro:property name="lower_limb_vis_stl_name" value="lower_limb_test.stl" />

<!-- collision tag meshes -->
<xacro:property name="hip_coll_stl_name" value="hip_collision.stl" />
<xacro:property name="upper_limb_coll_stl_name" value="upper_limb_collision.stl" />
<xacro:property name="lower_limb_coll_stl_name" value="lower_limb_collision.stl" />

<!-- limb dimensions -->
<xacro:property name="upper_limb_length" value="0.25" />
<xacro:property name="lower_limb_length_to_foot" value="0.25" />

<!-- inertial properties for each link in left front leg-->

<!-- hip link -->

<!-- mass -->
<xacro:property name="hip_mass" value="3.607"/>

<!-- 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"/>

<!-- moments 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"/>

<xacro:property name="hip_iyy" value="14607.423"/>
<xacro:property name="hip_iyz" value="49.927"/>

<xacro:property name="hip_izz" value="13707.172"/>


<!-- upper limb link -->

<!-- mass -->
<xacro:property name="upper_limb_mass" value="0.474"/>

<!-- 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"/>

<!-- 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"/>

<xacro:property name="upper_limb_iyy" value="4150.05"/>
<xacro:property name="upper_limb_iyz" value="235.648"/>

<xacro:property name="upper_limb_izz" value="424.555"/>

<!-- lower limb link -->

<!-- mass -->
<xacro:property name="lower_limb_mass" value="0.116"/>

<!-- 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"/>

<!-- 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_iyy" value="982.604"/>
<xacro:property name="lower_limb_iyz" value="-0.001"/>

<xacro:property name="lower_limb_izz" value="37.177"/>

<!-- joint properties -->

<!-- body to limb Joint positions -->
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16 changes: 16 additions & 0 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 @@ -4,8 +4,17 @@
<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"/>

<!-- LINKS -->

<!-- Base link -->
<link name="base_link" />

<!-- Trunk link -->
<xacro:include filename="links/trunk.urdf.xacro" />

Expand Down Expand Up @@ -69,6 +78,13 @@

<!-- JOINTS -->

<!-- Base joint -->
<joint name="base_joint" type="fixed">
<parent link="base_link" />
<child link="trunk_link" />
<origin xyz="0 0 0.55" rpy="0 0 0" />
</joint>

<!-- Left front leg joints -->

<!-- Left front trunk joint -->
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149 changes: 126 additions & 23 deletions src/meldog_description/rviz/meldog_config.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -53,28 +53,70 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
foot_link:
LFF_link:
Value: true
hip_link:
LFH_link:
Value: true
lower_limb_link:
LFLL_link:
Value: true
trunk_link:
LFUL_link:
Value: true
LRF_link:
Value: true
LRH_link:
Value: true
LRLL_link:
Value: true
LRUL_link:
Value: true
RFF_link:
Value: true
RFH_link:
Value: true
RFLL_link:
Value: true
RFUL_link:
Value: true
upper_limb_link:
RRF_link:
Value: true
RRH_link:
Value: true
RRLL_link:
Value: true
RRUL_link:
Value: true
base_link:
Value: true
trunk_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
trunk_link:
hip_link:
upper_limb_link:
lower_limb_link:
foot_link:
{}
base_link:
trunk_link:
LFH_link:
LFUL_link:
LFLL_link:
LFF_link:
{}
LRH_link:
LRUL_link:
LRLL_link:
LRF_link:
{}
RFH_link:
RFUL_link:
RFLL_link:
RFF_link:
{}
RRH_link:
RRUL_link:
RRLL_link:
RRF_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Expand All @@ -94,27 +136,88 @@ Visualization Manager:
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
LFF_link:
Alpha: 1
Show Axes: false
Show Trail: false
LFH_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFLL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LFUL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LRF_link:
Alpha: 1
Show Axes: false
Show Trail: false
LRH_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LRLL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
LRUL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Link Tree Style: Links in Alphabetic Order
foot_link:
RFF_link:
Alpha: 1
Show Axes: false
Show Trail: false
hip_link:
RFH_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lower_limb_link:
RFLL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
trunk_link:
RFUL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RRF_link:
Alpha: 1
Show Axes: false
Show Trail: false
RRH_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
upper_limb_link:
RRLL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
RRUL_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
trunk_link:
Alpha: 1
Show Axes: false
Show Trail: false
Expand All @@ -130,7 +233,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: trunk_link
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
Expand Down Expand Up @@ -173,25 +276,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 1.8604696989059448
Distance: 2.7226903438568115
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
X: 0.04734990745782852
Y: -0.05209023505449295
Z: 0.03704112023115158
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.31039848923683167
Pitch: 0.3203985393047333
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.9004016518592834
Yaw: 0.9404014348983765
Saved: ~
Window Geometry:
Displays:
Expand Down

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