From e5335a4f1b4aed7c71494716276cea3dedb76819 Mon Sep 17 00:00:00 2001
From: sssufin <stanislaw.sufin@gmail.com>
Date: Sun, 27 Oct 2024 16:52:38 +0100
Subject: [PATCH] renamed macros to link_macros

---
 .../description/base_properties.urdf.xacro    | 40 -------------------
 ...acros.urdf.xacro => link_macro.urdf.xacro} |  0
 .../description/meldog_core.urdf.xacro        |  4 +-
 3 files changed, 2 insertions(+), 42 deletions(-)
 delete mode 100644 src/meldog_description/description/base_properties.urdf.xacro
 rename src/meldog_description/description/macros/{macros.urdf.xacro => link_macro.urdf.xacro} (100%)

diff --git a/src/meldog_description/description/base_properties.urdf.xacro b/src/meldog_description/description/base_properties.urdf.xacro
deleted file mode 100644
index 369823f..0000000
--- a/src/meldog_description/description/base_properties.urdf.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <!-- joint properties -->
-
-        <!-- body to limb Joint positions -->
-
-            <!-- leg body upper limb joint -->
-            <xacro:property name="hip_upper_limb_x" value="0.174"/>
-            <xacro:property name="hip_upper_limb_y" value="0.0925"/>
-            <xacro:property name="hip_upper_limb_z" value="0"/>
-
-        <!-- joint movement limits in degrees -->
-
-            <!-- leg body upper limb joint -->
-            <xacro:property name="hip_upper_limb_lower_limit" value="-120" />
-            <xacro:property name="hip_upper_limb_upper_limit" value="120" />
-
-            <!-- upper limb lower limb joint -->
-            <xacro:property name="upper_limb_lower_limb_lower_limit" value="-160" />
-            <xacro:property name="upper_limb_lower_limb_upper_limit" value="160" />
-
-            <!-- trunk hip joint -->
-            <xacro:property name="trunk_hip_lower_limit" value="-45" />
-            <xacro:property name="trunk_hip_upper_limit" value="45" />
-
-        <!-- joint effort limits -->
-        <xacro:property name="hip_upper_limb_effort" value="100.0" />
-        <xacro:property name="upper_limb_lower_limb_effort" value="100.0" />
-        <xacro:property name="trunk_hip_effort" value="100.0" />
-
-        <!-- joint velocity limits -->
-        <xacro:property name="hip_upper_limb_velocity" value="100.0" />
-        <xacro:property name="upper_limb_lower_limb_velocity" value="100.0" />
-        <xacro:property name="trunk_hip_velocity" value="100.0" />
-
-        <xacro:property name="test_damping" value="0"/>
-        <xacro:property name="test_friction" value="0"/>
-
-</robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/macros/macros.urdf.xacro b/src/meldog_description/description/macros/link_macro.urdf.xacro
similarity index 100%
rename from src/meldog_description/description/macros/macros.urdf.xacro
rename to src/meldog_description/description/macros/link_macro.urdf.xacro
diff --git a/src/meldog_description/description/meldog_core.urdf.xacro b/src/meldog_description/description/meldog_core.urdf.xacro
index 7cc0895..52c99ce 100644
--- a/src/meldog_description/description/meldog_core.urdf.xacro
+++ b/src/meldog_description/description/meldog_core.urdf.xacro
@@ -1,8 +1,8 @@
 <?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="macros/macros.urdf.xacro" />
+    <!-- Xacro macros -->
+    <xacro:include filename="macros/link_macro.urdf.xacro" />
 
     <!-- Link properties -->
     <xacro:include filename="links/properties/F_properties.urdf.xacro"/>