Commit a89f9735 authored by Julian Viereck's avatar Julian Viereck
Browse files

Add test tsid-formulation test for contact points. Adding quadruped urdf model

parent c6696a6f
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<!-- <xacro:leg prefix="FL" rx="${0.}" ry="${0.}"/> -->
<joint name="FL_HFE" type="revolute">
<parent link="base_link"/>
<child link="FL_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="-0.1 0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FL_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FL_KFE" type="revolute">
<parent link="FL_upperleg"/>
<child link="FL_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FL_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
<mass value="0.021"/>
<inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FL_END" type="fixed">
<parent link="FL_shank"/>
<child link="FL_contact"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
</joint>
<link name="FL_contact">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
<color rgba="1. 0. 0. 1."/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
<joint name="FR_HFE" type="revolute">
<parent link="base_link"/>
<child link="FR_upperleg"/>
<limit effort="1000" lower="-10" upper="10" velocity="1000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.1 0.2 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FR_upperleg">
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0793"/>
<mass value="0.162"/>
<inertia ixx="0.000469609" ixy="0.0" ixz="0.0" iyy="0.000469609" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FR_KFE" type="revolute">
<parent link="FR_upperleg"/>
<child link="FR_shank"/>
<limit effort="1000" velocity="10000"/>
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="FR_shank">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<!-- <cylinder length="${upper_leg_length}" radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/cylinder.obj" scale="0.025 0.025 0.16"/>
</geometry>
<material name="grey">
<color rgba=".4 .4 .4 .1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.16" radius="0.025"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.0756"/>
<mass value="0.021"/>
<inertia ixx="0.000087575" ixy="0.0" ixz="0.0" iyy="0.000087575" iyz="0.0" izz="1e-6"/>
</inertial>
</link>
<joint name="FR_END" type="fixed">
<parent link="FR_shank"/>
<child link="FR_contact"/>
<origin rpy="0 0 0" xyz="0 0 -0.16"/>
</joint>
<link name="FR_contact">
<contact>
<lateral_friction value="1.0"/>
<restitution value="0.5"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- <sphere radius="${upper_leg_radius}"/> -->
<mesh filename="package://quadruped/urdf/sphere.obj" scale="0.025 0.025 0.025"/>
</geometry>
<material name="red">
<color rgba="1. 0. 0. 1."/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.025"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0." ixy="0.0" ixz="0.0" iyy="0." iyz="0.0" izz="0."/>
</inertial>
</link>
<joint name="BL_HFE" type="revolute">