From 79d83808a0e1409ba207b298426936e3733681d5 Mon Sep 17 00:00:00 2001
From: Jake Wilkinson <realrobotshk@gmail.com>
Date: Tue, 25 Nov 2025 16:46:28 +0800
Subject: [PATCH] added upper and lower teeth to urdf, connected motorIDs

---
 .../LittleSophia/urdf/LittleSophia.urdf       | 82 +++++++++++++++++--
 ros_robot_visualiser/URDFEditor.js            |  2 +-
 2 files changed, 78 insertions(+), 6 deletions(-)

diff --git a/public/robots/LittleSophia/urdf/LittleSophia.urdf b/public/robots/LittleSophia/urdf/LittleSophia.urdf
index a96204f..ead6d1b 100644
--- a/public/robots/LittleSophia/urdf/LittleSophia.urdf
+++ b/public/robots/LittleSophia/urdf/LittleSophia.urdf
@@ -447,7 +447,7 @@
     <!-- Position the eye relative to the head -->
     <origin xyz="-0.0198 0.024 0.065" rpy="0 0 0" />
     <!-- yaw axis: adjust depending on your coordinate system -->
-    <axis xyz="0 0 1" />
+    <axis xyz="0 0 -1" />
     <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
   </joint>
 
@@ -476,7 +476,7 @@
     <parent link="head" />
     <child link="eye_right" />
     <origin xyz="0.0193 0.024 0.065" rpy="0 0 0" />
-    <axis xyz="0 0 1" />
+    <axis xyz="0 0 -1" />
     <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
   </joint>
 
@@ -556,6 +556,62 @@
     </inertial>
   </link>
 
+  <joint name="teeth_lower_pitch" type="revolute">
+    <parent link="head" />
+    <child link="teeth_lower" />
+    <origin xyz="-0.0009 0.01 0.026" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="teeth_lower">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Teeth_Lower.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+
+  <joint name="teeth_upper_pitch" type="revolute">
+    <parent link="head" />
+    <child link="teeth_upper" />
+    <origin xyz="-0.0009 0.01 0.026" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="teeth_upper">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Teeth_Upper.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+
 
   <transmission name="upper_arm_left">
     <type>transmission_interface/SimpleTransmission</type>
@@ -796,7 +852,7 @@
       <encoderValidMin>100</encoderValidMin>
       <encoderValidMax>3900</encoderValidMax>
       <encoderRange>300</encoderRange>
-      <motorID>99</motorID>
+      <motorID>14</motorID>
     </actuator>
   </transmission>
 
@@ -812,7 +868,7 @@
       <encoderValidMin>100</encoderValidMin>
       <encoderValidMax>3900</encoderValidMax>
       <encoderRange>300</encoderRange>
-      <motorID>98</motorID>
+      <motorID>15</motorID>
     </actuator>
   </transmission>
 
@@ -828,7 +884,7 @@
       <encoderValidMin>100</encoderValidMin>
       <encoderValidMax>3900</encoderValidMax>
       <encoderRange>300</encoderRange>
-      <motorID>98</motorID>
+      <motorID>10</motorID>
     </actuator>
   </transmission>
 
@@ -848,4 +904,20 @@
     </actuator>
   </transmission>
 
+  <transmission name="teeth_lower_pitch">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="teeth_lower_pitch">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="teeth_lower_pitch">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4095</encoderTicks>
+      <encoderValidMin>100</encoderValidMin>
+      <encoderValidMax>3900</encoderValidMax>
+      <encoderRange>300</encoderRange>
+      <motorID>40</motorID>
+    </actuator>
+  </transmission>
+
 </robot>
\ No newline at end of file
diff --git a/ros_robot_visualiser/URDFEditor.js b/ros_robot_visualiser/URDFEditor.js
index 1a56103..6819918 100644
--- a/ros_robot_visualiser/URDFEditor.js
+++ b/ros_robot_visualiser/URDFEditor.js
@@ -74,7 +74,7 @@ export class URDFEditor {
 
 
     this.setupScene();
-    this.loadURDF();
+    //this.loadURDF();
     //this.loadURDFFromIndexedDB();
     this.setupEvents();