From eaad68ce542c2f77bf5db02f30603c8610e48ef6 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Thu, 8 Nov 2018 14:21:49 +0900
Subject: [PATCH 01/15] Fix: Convert kgfcm to Nm

---
 xacro/config/joint.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/xacro/config/joint.xacro b/xacro/config/joint.xacro
index 7c5b1fd..e6d6993 100644
--- a/xacro/config/joint.xacro
+++ b/xacro/config/joint.xacro
@@ -9,7 +9,7 @@
 
   <!-- 13.0kgf・cm -->
   <!-- 0.16s/60°   -->
-  <xacro:property name="effort" value="13.0" />
+  <xacro:property name="effort" value="${13.0 / 0.09807}" />
   <xacro:property name="velocity" value="${pi / 3 / 0.16}" />
 
   <xacro:property name="hardware_interface" value="hardware_interface/PositionJointInterface" />

From 6e7395183d77176f3fe0ab6fdea41ac53649f20e Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 10:17:24 +0900
Subject: [PATCH 02/15] Add: Add `fixed_joint` macro to make fixed virtual
 joint

---
 xacro/joint.xacro | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/xacro/joint.xacro b/xacro/joint.xacro
index 7b62344..831ce99 100644
--- a/xacro/joint.xacro
+++ b/xacro/joint.xacro
@@ -31,4 +31,12 @@
     </transmission>
   </xacro:macro>
 
+  <xacro:macro name="fixed_joint" params="x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 name parent child">
+    <joint name="ignore_${name}" type="fixed">
+      <parent link="${parent}"/>
+      <child link="${child}"/>
+
+      <origin xyz="${x} ${y} ${z}" rpy="${roll} ${pitch} ${yaw}" />
+    </joint>
+  </xacro:macro>
 </robot>

From 80b52ff2c027f9e713b30a34ed71c2a1d532b2c0 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 10:20:27 +0900
Subject: [PATCH 03/15] Change: Replace `ignore_*` joint usage with fixed_joint

---
 robots/yamax.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 0f7bf03..96cfa0a 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -12,9 +12,9 @@
 
   <xacro:link name="hip" w="0.100" h="0.160" d="0.004" mass="0.207" x="0" y="0" z="0" material="Orange" has_imu="true" />
   <xacro:link name="board" w="0.085" h="0.115" d="0.065" mass="0.220" x="0" y="0" z="0.0325" material="Black" />
-  <xacro:joint name="ignore_board" aname="board" parent="hip" child="board" z="0.004" axis="x" />
+  <xacro:fixed_joint name="board" parent="hip" child="board" z="0.004" />
 
-  <xacro:joint name="ignore_hip_right" aname="ignore_hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
@@ -27,7 +27,7 @@
   <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" axis="x" />
   <xacro:link name="foot_right" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
-  <xacro:joint name="ignore_hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />

From 5ed476fc80f8d7cd0274434ceae3fedd46bcb4b4 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 12:59:27 +0900
Subject: [PATCH 04/15] Fix: Fix joint rotations of left leg

---
 robots/yamax.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 96cfa0a..3145d2f 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -31,13 +31,13 @@
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" axis="y" />
+  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" yaw="${-pi}" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_left" aname="S" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_left_p" aname="T" parent="leg_left_2" child="leg_left_3" z="-0.051" axis="y" />
   <xacro:link name="leg_left_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
+  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" yaw="${pi}" axis="x" />
   <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
 

From c1d01403f8fea5538314447ce443e7e653498324 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 13:00:22 +0900
Subject: [PATCH 05/15] Delete: Delete empty base link and use it as hip link

---
 robots/yamax.xacro | 16 ++++------------
 1 file changed, 4 insertions(+), 12 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 96cfa0a..97b4dec 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -8,13 +8,11 @@
 
   <xacro:include filename="$(cwd)/xacro/material.xacro" />
 
-  <link name="base_link" />
-
-  <xacro:link name="hip" w="0.100" h="0.160" d="0.004" mass="0.207" x="0" y="0" z="0" material="Orange" has_imu="true" />
+  <xacro:link name="base_link" w="0.100" h="0.160" d="0.004" mass="0.207" x="0" y="0" z="0" material="Orange" has_imu="true" />
   <xacro:link name="board" w="0.085" h="0.115" d="0.065" mass="0.220" x="0" y="0" z="0.0325" material="Black" />
-  <xacro:fixed_joint name="board" parent="hip" child="board" z="0.004" />
+  <xacro:fixed_joint name="board" parent="base_link" child="board" z="0.004" />
 
-  <xacro:fixed_joint name="hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" />
+  <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
@@ -27,7 +25,7 @@
   <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" axis="x" />
   <xacro:link name="foot_right" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
-  <xacro:fixed_joint name="hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" />
+  <xacro:fixed_joint name="hip_left" parent="base_link" child="hip_left" y="0.051" z="-0.004" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
@@ -40,12 +38,6 @@
   <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
   <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
-
-  <joint name="dummy_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="hip"/>
-  </joint>
-
   <gazebo>
     <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
       <robotNamespace>${config.namespace}</robotNamespace>

From 03169909385f7aee66d1bd55e0e868b959c26a81 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 13:08:39 +0900
Subject: [PATCH 06/15] Add: Add a comment to notify about symmnetry

---
 robots/yamax.xacro | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 3145d2f..eb2c887 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -14,6 +14,9 @@
   <xacro:link name="board" w="0.085" h="0.115" d="0.065" mass="0.220" x="0" y="0" z="0.0325" material="Black" />
   <xacro:fixed_joint name="board" parent="hip" child="board" z="0.004" />
 
+  <!-- hip_joint_*_p, knee_*, ankle_*_p joints are line symmetry -->
+  <!-- other joints are point symmetry                           -->
+
   <xacro:fixed_joint name="hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />

From d1dab7ddaaebb65f6e0d7f5b95fedc591b4acaa8 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 13:50:05 +0900
Subject: [PATCH 07/15] Fix: Fix both right and left legs to match with real
 one

---
 robots/yamax.xacro | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index eb2c887..2b97dd6 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -19,28 +19,28 @@
 
   <xacro:fixed_joint name="hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
+  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" yaw="${-pi}" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_right_p" aname="L" parent="virtual_hip_right" child="leg_right_1" z="-0.040" axis="y" />
+  <xacro:joint name="hip_joint_right_p" aname="L" parent="virtual_hip_right" child="leg_right_1" z="-0.040" yaw="${pi}" axis="y" />
   <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_right" aname="M" parent="leg_right_1" child="leg_right_2" z="-0.051" axis="y" />
   <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
   <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" axis="x" />
+  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" yaw="${-pi}" axis="x" />
   <xacro:link name="foot_right" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
-  <xacro:fixed_joint name="hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" />
+  <xacro:fixed_joint name="hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" yaw="${-pi}" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" yaw="${-pi}" axis="y" />
+  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_left" aname="S" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_left_p" aname="T" parent="leg_left_2" child="leg_left_3" z="-0.051" axis="y" />
   <xacro:link name="leg_left_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" yaw="${pi}" axis="x" />
+  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
   <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
 

From 23c3f47e71fe197299fc9aed0dba2d0f9ccc0937 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Wed, 28 Nov 2018 14:54:07 +0900
Subject: [PATCH 08/15] Fix: Fix  unmerged chunk

---
 robots/yamax.xacro | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 9dcd91b..c8db375 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -12,14 +12,10 @@
   <xacro:link name="board" w="0.085" h="0.115" d="0.065" mass="0.220" x="0" y="0" z="0.0325" material="Black" />
   <xacro:fixed_joint name="board" parent="base_link" child="board" z="0.004" />
 
-<<<<<<< HEAD
-  <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.051" z="-0.004" />
-=======
   <!-- hip_joint_*_p, knee_*, ankle_*_p joints are line symmetry -->
   <!-- other joints are point symmetry                           -->
 
-  <xacro:fixed_joint name="hip_right" parent="hip" child="hip_right" y="-0.051" z="-0.004" />
->>>>>>> bugfix/joint-rotation-origin
+  <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" yaw="${-pi}" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />

From 4b048b5e69ed05f330baaf5b42bef34764448e4c Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Sun, 9 Dec 2018 11:44:22 +0000
Subject: [PATCH 09/15] Fix: Fix joint rotation again...

---
 robots/yamax.xacro | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index c8db375..8fb77b7 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -17,28 +17,28 @@
 
   <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.051" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" yaw="${-pi}" axis="x" />
+  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_right_p" aname="L" parent="virtual_hip_right" child="leg_right_1" z="-0.040" yaw="${pi}" axis="y" />
+  <xacro:joint name="hip_joint_right_p" aname="L" parent="virtual_hip_right" child="leg_right_1" z="-0.040" axis="y" />
   <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_right" aname="M" parent="leg_right_1" child="leg_right_2" z="-0.051" axis="y" />
   <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
   <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" yaw="${-pi}" axis="x" />
+  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" axis="x" />
   <xacro:link name="foot_right" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
   <xacro:fixed_joint name="hip_left" parent="base_link" child="hip_left" y="0.051" z="-0.004" yaw="${-pi}" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" axis="y" />
+  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" yaw="${pi}" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_left" aname="S" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_left_p" aname="T" parent="leg_left_2" child="leg_left_3" z="-0.051" axis="y" />
   <xacro:link name="leg_left_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
+  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" yaw="${-pi}" axis="x" />
   <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
 
   <gazebo>

From c515ada1684d2200ba58abfb338fe242afcafb52 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:23:30 +0000
Subject: [PATCH 10/15] [WIP] Commit changes sent from @Nyanyan

---
 robots/yamax.xacro | 57 +++++++++++++++++++++++++++++++---------------
 1 file changed, 39 insertions(+), 18 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 8fb77b7..2224513 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -8,38 +8,59 @@
 
   <xacro:include filename="$(cwd)/xacro/material.xacro" />
 
-  <xacro:link name="base_link" w="0.100" h="0.160" d="0.004" mass="0.207" x="0" y="0" z="0" material="Orange" has_imu="true" />
-  <xacro:link name="board" w="0.085" h="0.115" d="0.065" mass="0.220" x="0" y="0" z="0.0325" material="Black" />
-  <xacro:fixed_joint name="board" parent="base_link" child="board" z="0.004" />
+  <link name="base_link" />
 
-  <!-- hip_joint_*_p, knee_*, ankle_*_p joints are line symmetry -->
-  <!-- other joints are point symmetry                           -->
+  <xacro:link name="hip" w="0.090" h="0.150" d="0.004" mass="0.07061" x="0" y="0" z="0" material="Orange" has_imu="true" />
+  <xacro:link name="board" w="0.085" h="0.115" d="0.020" mass="0.1000" x="0" y="0" z="0.010" material="Black" />
+  <xacro:joint name="ignore_board" aname="board" parent="hip" child="board" z="0.004" axis="x" />
 
-  <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.051" z="-0.004" />
+  <xacro:joint name="ignore_hip_right" aname="ignore_hip_right" parent="hip" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
-  <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_right_p" aname="L" parent="virtual_hip_right" child="leg_right_1" z="-0.040" axis="y" />
-  <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
+<!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
+  <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->
+  <xacro:joint name="hip_joint_right_p" aname="L" parent="hip_right" child="leg_right_1" z="-0.031" axis="y" />
+  <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_right" aname="M" parent="leg_right_1" child="leg_right_2" z="-0.051" axis="y" />
-  <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
-  <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
-  <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_3" child="foot_right" z="-0.065" axis="x" />
-  <xacro:link name="foot_right" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
+  <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
+<!--  <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
+  <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" /> -->
+  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_2" child="foot_right" z="-0.047.5" axis="x" />
+  <xacro:link name="foot_right" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
-  <xacro:fixed_joint name="hip_left" parent="base_link" child="hip_left" y="0.051" z="-0.004" yaw="${-pi}" />
+
+  <xacro:joint name="ignore_hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.04325" z="-0.004" axis="x" />
+  <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
+<!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
+  <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->
+  <xacro:joint name="hip_joint_left_p" aname="L" parent="hip_left" child="leg_left_1" z="-0.031" axis="y" />
+  <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
+  <xacro:joint name="knee_left" aname="M" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
+  <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
+<!--  <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
+  <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" /> -->
+  <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.047.5" axis="x" />
+  <xacro:link name="foot_left" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
+
+
+
+<!--  <xacro:joint name="ignore_hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" axis="x" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" yaw="${pi}" axis="y" />
+  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="knee_left" aname="S" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
   <xacro:joint name="ankle_left_p" aname="T" parent="leg_left_2" child="leg_left_3" z="-0.051" axis="y" />
   <xacro:link name="leg_left_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" yaw="${-pi}" axis="x" />
+  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
   <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
+-->
+
+  <joint name="dummy_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="hip"/>
+  </joint>
 
   <gazebo>
     <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">

From 8299ae9a7b682fa7c9c5060f0bffc6ac20c5bd9a Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:26:22 +0000
Subject: [PATCH 11/15] Change: Use fixed_joint for ignore_ joints

---
 robots/yamax.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 2224513..4997aad 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -12,9 +12,9 @@
 
   <xacro:link name="hip" w="0.090" h="0.150" d="0.004" mass="0.07061" x="0" y="0" z="0" material="Orange" has_imu="true" />
   <xacro:link name="board" w="0.085" h="0.115" d="0.020" mass="0.1000" x="0" y="0" z="0.010" material="Black" />
-  <xacro:joint name="ignore_board" aname="board" parent="hip" child="board" z="0.004" axis="x" />
+  <xacro:fixed_joint name="board" aname="board" parent="hip" child="board" z="0.004" axis="x" />
 
-  <xacro:joint name="ignore_hip_right" aname="ignore_hip_right" parent="hip" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_right" aname="ignore_hip_right" parent="hip" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
 <!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->
@@ -28,7 +28,7 @@
   <xacro:link name="foot_right" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
 
-  <xacro:joint name="ignore_hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
 <!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
   <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->

From c44f1fe431fac3dff7fcee6608021fa6dd9002c5 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:29:24 +0000
Subject: [PATCH 12/15] Fix: Fix relantions between base_link

---
 robots/yamax.xacro | 39 ++++-----------------------------------
 1 file changed, 4 insertions(+), 35 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 4997aad..f7eb56d 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -8,60 +8,29 @@
 
   <xacro:include filename="$(cwd)/xacro/material.xacro" />
 
-  <link name="base_link" />
-
-  <xacro:link name="hip" w="0.090" h="0.150" d="0.004" mass="0.07061" x="0" y="0" z="0" material="Orange" has_imu="true" />
+  <xacro:link name="base_link" w="0.090" h="0.150" d="0.004" mass="0.07061" x="0" y="0" z="0" material="Orange" has_imu="true" />
   <xacro:link name="board" w="0.085" h="0.115" d="0.020" mass="0.1000" x="0" y="0" z="0.010" material="Black" />
-  <xacro:fixed_joint name="board" aname="board" parent="hip" child="board" z="0.004" axis="x" />
+  <xacro:fixed_joint name="board" aname="board" parent="base_link" child="board" z="0.004" axis="x" />
 
-  <xacro:fixed_joint name="hip_right" aname="ignore_hip_right" parent="hip" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_right" aname="ignore_hip_right" parent="base_link" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-<!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
-  <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->
   <xacro:joint name="hip_joint_right_p" aname="L" parent="hip_right" child="leg_right_1" z="-0.031" axis="y" />
   <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_right" aname="M" parent="leg_right_1" child="leg_right_2" z="-0.051" axis="y" />
   <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
-<!--  <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
-  <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" /> -->
   <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_2" child="foot_right" z="-0.047.5" axis="x" />
   <xacro:link name="foot_right" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
 
-  <xacro:fixed_joint name="hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_left" aname="ignore_hip_left" parent="base_link" child="hip_left" y="0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-<!--  <xacro:joint name="hip_joint_right_r" aname="K" parent="hip_right" child="virtual_hip_right" z="-0.030" axis="x" />
-  <xacro:virtual_link name="virtual_hip_right" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" /> -->
   <xacro:joint name="hip_joint_left_p" aname="L" parent="hip_left" child="leg_left_1" z="-0.031" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_left" aname="M" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
-<!--  <xacro:joint name="ankle_right_p" aname="N" parent="leg_right_2" child="leg_right_3" z="-0.051" axis="y" />
-  <xacro:link name="leg_right_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" /> -->
   <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.047.5" axis="x" />
   <xacro:link name="foot_left" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
-
-
-<!--  <xacro:joint name="ignore_hip_left" aname="ignore_hip_left" parent="hip" child="hip_left" y="0.051" z="-0.004" axis="x" />
-  <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
-  <xacro:joint name="hip_joint_left_r" aname="Q" parent="hip_left" child="virtual_hip_left" z="-0.030" axis="x" />
-  <xacro:virtual_link name="virtual_hip_left" w="0.01" h="0.01" d="0.01" z="-0.020" mass="0.0113" />
-  <xacro:joint name="hip_joint_left_p" aname="R" parent="virtual_hip_left" child="leg_left_1" z="-0.040" axis="y" />
-  <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
-  <xacro:joint name="knee_left" aname="S" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
-  <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.013" mass="0.0742" material="Black" />
-  <xacro:joint name="ankle_left_p" aname="T" parent="leg_left_2" child="leg_left_3" z="-0.051" axis="y" />
-  <xacro:link name="leg_left_3" w="0.0325" h="0.032" d="0.086" z="-0.034" mass="0.135" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="U" parent="leg_left_3" child="foot_left" z="-0.065" axis="x" />
-  <xacro:link name="foot_left" w="0.094" h="0.064" d="0.013" z="-0.0275" mass="0.102" material="Orange" />
--->
-
-  <joint name="dummy_joint" type="fixed">
-    <parent link="base_link"/>
-    <child link="hip"/>
-  </joint>
-
   <gazebo>
     <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
       <robotNamespace>${config.namespace}</robotNamespace>

From 549072c7aa9a2551f91cebbc890a179810a3d9c9 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:32:09 +0000
Subject: [PATCH 13/15] Fix: Fix ankle rotation

---
 robots/yamax.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index f7eb56d..132d5bc 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -28,7 +28,7 @@
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_left" aname="M" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.047.5" axis="x" />
+  <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.047.5" axis="x" yaw="${-pi}" />
   <xacro:link name="foot_left" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
   <gazebo>

From 8bd05c8a3c3d630315397cc8ef6181651ac1a611 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:33:27 +0000
Subject: [PATCH 14/15] Fix: Fix float point notation

---
 robots/yamax.xacro | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index 132d5bc..d9d57e3 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -12,13 +12,14 @@
   <xacro:link name="board" w="0.085" h="0.115" d="0.020" mass="0.1000" x="0" y="0" z="0.010" material="Black" />
   <xacro:fixed_joint name="board" aname="board" parent="base_link" child="board" z="0.004" axis="x" />
 
+
   <xacro:fixed_joint name="hip_right" aname="ignore_hip_right" parent="base_link" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_p" aname="L" parent="hip_right" child="leg_right_1" z="-0.031" axis="y" />
   <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_right" aname="M" parent="leg_right_1" child="leg_right_2" z="-0.051" axis="y" />
   <xacro:link name="leg_right_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
-  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_2" child="foot_right" z="-0.047.5" axis="x" />
+  <xacro:joint name="ankle_right_r" aname="O" parent="leg_right_2" child="foot_right" z="-0.0475" axis="x" />
   <xacro:link name="foot_right" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
 
@@ -28,7 +29,7 @@
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
   <xacro:joint name="knee_left" aname="M" parent="leg_left_1" child="leg_left_2" z="-0.051" axis="y" />
   <xacro:link name="leg_left_2" w="0.0325" h="0.032" d="0.043" z="-0.0385" mass="0.07270" material="Black" />
-  <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.047.5" axis="x" yaw="${-pi}" />
+  <xacro:joint name="ankle_left_r" aname="O" parent="leg_left_2" child="foot_left" z="-0.0475" axis="x" yaw="${-pi}" />
   <xacro:link name="foot_left" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
   <gazebo>

From c9084238f2c057d88116c3c730a8dd233128ec86 Mon Sep 17 00:00:00 2001
From: "coord.e" <me@coord-e.com>
Date: Fri, 8 Feb 2019 13:34:43 +0000
Subject: [PATCH 15/15] Delete: Delete unnecessary params to fixed_joint

---
 robots/yamax.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/robots/yamax.xacro b/robots/yamax.xacro
index d9d57e3..5a29a7e 100644
--- a/robots/yamax.xacro
+++ b/robots/yamax.xacro
@@ -10,10 +10,10 @@
 
   <xacro:link name="base_link" w="0.090" h="0.150" d="0.004" mass="0.07061" x="0" y="0" z="0" material="Orange" has_imu="true" />
   <xacro:link name="board" w="0.085" h="0.115" d="0.020" mass="0.1000" x="0" y="0" z="0.010" material="Black" />
-  <xacro:fixed_joint name="board" aname="board" parent="base_link" child="board" z="0.004" axis="x" />
+  <xacro:fixed_joint name="board" parent="base_link" child="board" z="0.004" />
 
 
-  <xacro:fixed_joint name="hip_right" aname="ignore_hip_right" parent="base_link" child="hip_right" y="-0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_right" parent="base_link" child="hip_right" y="-0.04325" z="-0.004" />
   <xacro:link name="hip_right" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_right_p" aname="L" parent="hip_right" child="leg_right_1" z="-0.031" axis="y" />
   <xacro:link name="leg_right_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />
@@ -23,7 +23,7 @@
   <xacro:link name="foot_right" w="0.098" h="0.066" d="0.009" z="-0.0245" mass="0.05252" material="Orange" />
 
 
-  <xacro:fixed_joint name="hip_left" aname="ignore_hip_left" parent="base_link" child="hip_left" y="0.04325" z="-0.004" axis="x" />
+  <xacro:fixed_joint name="hip_left" parent="base_link" child="hip_left" y="0.04325" z="-0.004" />
   <xacro:link name="hip_left" w="0.0325" h="0.032" d="0.043" y="0" z="-0.0215" mass="0.0552" material="Black" />
   <xacro:joint name="hip_joint_left_p" aname="L" parent="hip_left" child="leg_left_1" z="-0.031" axis="y" />
   <xacro:link name="leg_left_1" w="0.0325" h="0.032" d="0.043" z="-0.0415" mass="0.06772" material="Black" />