├── CMakeLists.txt ├── LICENSE ├── README.md ├── docs └── MobileManipulatorUrdfAssets.md ├── include └── ocs2_robotic_assets │ ├── .gitignore │ └── package_path.h.in ├── package.xml └── resources ├── anymal_c ├── LICENSE ├── meshes │ ├── base.dae │ ├── base.jpg │ ├── battery.dae │ ├── battery.jpg │ ├── bottom_shell.dae │ ├── bottom_shell.jpg │ ├── depth_camera.dae │ ├── depth_camera.jpg │ ├── drive.dae │ ├── drive.jpg │ ├── face.dae │ ├── face.jpg │ ├── foot.dae │ ├── foot.jpg │ ├── handle.dae │ ├── handle.jpg │ ├── hatch.dae │ ├── hatch.jpg │ ├── hip.jpg │ ├── hip_l.dae │ ├── hip_r.dae │ ├── lidar.dae │ ├── lidar.jpg │ ├── lidar_cage.dae │ ├── lidar_cage.jpg │ ├── remote.dae │ ├── remote.jpg │ ├── shank.jpg │ ├── shank_l.dae │ ├── shank_r.dae │ ├── thigh.dae │ ├── thigh.jpg │ ├── top_shell.dae │ ├── top_shell.jpg │ ├── wide_angle_camera.dae │ └── wide_angle_camera.jpg └── urdf │ └── anymal.urdf ├── ballbot ├── meshes │ └── base.obj └── urdf │ └── ballbot.urdf ├── cartpole └── urdf │ └── cartpole.urdf ├── double_integrator └── urdf │ └── double_integrator.urdf ├── mobile_manipulator ├── franka │ ├── LICENSE │ ├── meshes │ │ ├── collision │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ ├── meshes │ │ │ ├── collision │ │ │ │ ├── hand.stl │ │ │ │ ├── link0.stl │ │ │ │ ├── link1.stl │ │ │ │ ├── link2.stl │ │ │ │ ├── link3.stl │ │ │ │ ├── link4.stl │ │ │ │ ├── link5.stl │ │ │ │ ├── link6.stl │ │ │ │ └── link7.stl │ │ │ └── visual │ │ │ │ ├── finger.dae │ │ │ │ ├── hand.dae │ │ │ │ ├── link0.dae │ │ │ │ ├── link1.dae │ │ │ │ ├── link2.dae │ │ │ │ ├── link3.dae │ │ │ │ ├── link4.dae │ │ │ │ ├── link5.dae │ │ │ │ ├── link6.dae │ │ │ │ └── link7.dae │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ └── urdf │ │ └── panda.urdf ├── kinova │ ├── LICENSE │ ├── meshes │ │ ├── arm.SLDPRT │ │ ├── arm.STL │ │ ├── arm.dae │ │ ├── arm_half_1.STL │ │ ├── arm_half_1.dae │ │ ├── arm_half_2.STL │ │ ├── arm_half_2.dae │ │ ├── arm_mico.STL │ │ ├── arm_mico.dae │ │ ├── base.STL │ │ ├── base.dae │ │ ├── finger_distal.STL │ │ ├── finger_distal.dae │ │ ├── finger_proximal.STL │ │ ├── finger_proximal.dae │ │ ├── forearm.STL │ │ ├── forearm.dae │ │ ├── forearm_mico.STL │ │ ├── forearm_mico.dae │ │ ├── hand_2finger.STL │ │ ├── hand_2finger.dae │ │ ├── hand_3finger.STL │ │ ├── hand_3finger.dae │ │ ├── ring_big.STL │ │ ├── ring_big.dae │ │ ├── ring_small.STL │ │ ├── ring_small.dae │ │ ├── shoulder.STL │ │ ├── shoulder.dae │ │ ├── wrist.STL │ │ ├── wrist.dae │ │ ├── wrist_spherical_1.STL │ │ ├── wrist_spherical_1.dae │ │ ├── wrist_spherical_2.STL │ │ └── wrist_spherical_2.dae │ └── urdf │ │ ├── j2n6s300.urdf │ │ └── j2n7s300.urdf ├── mabi_mobile │ └── urdf │ │ └── mabi_mobile.urdf ├── pr2 │ ├── LICENSE │ ├── materials │ │ └── textures │ │ │ ├── pr2_caster_texture.png │ │ │ ├── pr2_wheel_left.png │ │ │ └── pr2_wheel_right.png │ ├── meshes │ │ ├── base_v0 │ │ │ ├── .gitignore │ │ │ ├── base.dae │ │ │ ├── base.stl │ │ │ ├── base_L.stl │ │ │ ├── base_color.png │ │ │ ├── base_normals.png │ │ │ ├── caster.stl │ │ │ ├── caster_L.stl │ │ │ ├── pr2_wheel.stl │ │ │ ├── wheel.dae │ │ │ ├── wheel.stl │ │ │ ├── wheel_color.png │ │ │ ├── wheel_h.dae │ │ │ ├── wheel_h_color.png │ │ │ └── wheel_normals.png │ │ ├── forearm_v0 │ │ │ ├── .gitignore │ │ │ ├── forearm.dae │ │ │ ├── forearm.jpg │ │ │ ├── forearm.stl │ │ │ ├── forearm_color.png │ │ │ ├── forearm_normals.png │ │ │ ├── wrist_color.png │ │ │ ├── wrist_flex.dae │ │ │ ├── wrist_flex.stl │ │ │ ├── wrist_normals.png │ │ │ ├── wrist_roll.stl │ │ │ └── wrist_roll_L.stl │ │ ├── gripper_v0 │ │ │ ├── .gitignore │ │ │ ├── finger_H_Color_100430.png │ │ │ ├── finger_H_UV_100430.dae │ │ │ ├── finger_tip_H_UV_100430.dae │ │ │ ├── finger_tip_l.stl │ │ │ ├── finger_tip_pad2_l.stl │ │ │ ├── finger_tip_pad2_r.stl │ │ │ ├── finger_tip_r.stl │ │ │ ├── fingertip_H_Color_100430.png │ │ │ ├── float_H_Color_100430.png │ │ │ ├── float_H_UV_100430.dae │ │ │ ├── gripper_palm.dae │ │ │ ├── gripper_palm.stl │ │ │ ├── gripper_palm_color.png │ │ │ ├── gripper_palm_normals.png │ │ │ ├── l_finger.dae │ │ │ ├── l_finger.stl │ │ │ ├── l_finger_color.png │ │ │ ├── l_finger_normals.png │ │ │ ├── l_finger_tip.dae │ │ │ ├── l_finger_tip.stl │ │ │ ├── l_finger_tip_color.png │ │ │ ├── l_finger_tip_normals.png │ │ │ ├── l_float.dae │ │ │ ├── l_float_color.png │ │ │ ├── l_float_normals.png │ │ │ ├── l_floating.stl │ │ │ ├── palm_H_Color_100430.png │ │ │ ├── palm_H_UV_100430.dae │ │ │ ├── upper_finger_l.stl │ │ │ └── upper_finger_r.stl │ │ ├── head_v0 │ │ │ ├── .gitignore │ │ │ ├── head_pan.dae │ │ │ ├── head_pan.stl │ │ │ ├── head_pan_L.stl │ │ │ ├── head_pan_color.png │ │ │ ├── head_pan_normals.png │ │ │ ├── head_tilt.dae │ │ │ ├── head_tilt.stl │ │ │ ├── head_tilt_L.stl │ │ │ ├── head_tilt_color.png │ │ │ ├── head_tilt_color_red.png │ │ │ ├── head_tilt_color_yellow.png │ │ │ ├── head_tilt_green.png │ │ │ └── head_tilt_normals.png │ │ ├── sensors │ │ │ ├── kinect2_v0 │ │ │ │ ├── kinect2_assembly.STL │ │ │ │ └── kinect2_assembly.dae │ │ │ ├── kinect_prosilica_v0 │ │ │ │ ├── 115x100_swept_back--coarse.STL │ │ │ │ ├── 115x100_swept_back_no_sensors--coarse.STL │ │ │ │ ├── 115x100_swept_fwd--coarse.STL │ │ │ │ ├── 115x100_swept_fwd_no_sensors--coarse.STL │ │ │ │ ├── 68-04546_Kinect_Sensor--coarse.STL │ │ │ │ └── Prosilica_w_Lens--coarse.STL │ │ │ └── kinect_v0 │ │ │ │ ├── kinect.dae │ │ │ │ ├── kinect.tga │ │ │ │ ├── kinect_color.tga │ │ │ │ └── kinect_mount.stl │ │ ├── shoulder_v0 │ │ │ ├── .gitignore │ │ │ ├── shoulder_lift.dae │ │ │ ├── shoulder_lift.stl │ │ │ ├── shoulder_lift_color.png │ │ │ ├── shoulder_lift_normals.png │ │ │ ├── shoulder_pan.dae │ │ │ ├── shoulder_pan.stl │ │ │ ├── shoulder_pan_color.png │ │ │ ├── shoulder_pan_normals.png │ │ │ ├── shoulder_yaw.stl │ │ │ ├── upper_arm_roll.dae │ │ │ ├── upper_arm_roll.stl │ │ │ ├── upper_arm_roll_L.stl │ │ │ ├── upper_arm_roll_color.png │ │ │ └── upper_arm_roll_normals.png │ │ ├── tilting_laser_v0 │ │ │ ├── .gitignore │ │ │ ├── hok_tilt.stl │ │ │ ├── tilting_hokuyo.dae │ │ │ ├── tilting_hokuyo.stl │ │ │ ├── tilting_hokuyo_L.stl │ │ │ ├── tilting_hokuyo_color.png │ │ │ └── tilting_hokuyo_normals.png │ │ ├── torso_v0 │ │ │ ├── .gitignore │ │ │ ├── torso.stl │ │ │ ├── torso_lift.dae │ │ │ ├── torso_lift.stl │ │ │ ├── torso_lift_L.stl │ │ │ ├── torso_lift_color.png │ │ │ └── torso_lift_normals.png │ │ └── upper_arm_v0 │ │ │ ├── .gitignore │ │ │ ├── elbow_flex.dae │ │ │ ├── elbow_flex.stl │ │ │ ├── elbow_flex_color.png │ │ │ ├── elbow_flex_normals.png │ │ │ ├── forearm_roll.stl │ │ │ ├── forearm_roll_L.stl │ │ │ ├── upper_arm.dae │ │ │ ├── upper_arm.jpg │ │ │ ├── upper_arm.stl │ │ │ ├── upper_arm_color.png │ │ │ └── upper_arm_normals.png │ └── urdf │ │ └── pr2.urdf └── ridgeback_ur5 │ ├── LICENSE │ ├── meshes │ ├── base │ │ ├── 3dm-gxX.stl │ │ ├── axle.stl │ │ ├── body-collision.stl │ │ ├── body.stl │ │ ├── end-cover.stl │ │ ├── lights.stl │ │ ├── rocker.stl │ │ ├── side-cover.stl │ │ ├── top.stl │ │ ├── ust-10lx.stl │ │ └── wheel.stl │ └── ur5 │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae │ └── urdf │ └── ridgeback_ur5.urdf └── quadrotor ├── meshes └── quadrotor.obj └── urdf └── quadrotor.urdf /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(ocs2_robotic_assets) 3 | 4 | find_package(catkin) 5 | 6 | ################################### 7 | ## catkin specific 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # OCS2 Robotic Assets 2 | 3 | This package provides a collection of assets for several commonly used robots. The assets are meant to serve as examples on integrating various different robots with [OCS2 Toolbox](https://github.com/leggedrobotics/ocs2). 4 | 5 | __Note:__ For reproducibility, the steps involved in creating the mobile-manipulator assets are described 6 | in [`docs/MobileManipulatorUrdfAssets.md`](docs/MobileManipulatorUrdfAssets.md). 7 | 8 | ## Assets 9 | 10 | ### Toy robots 11 | 12 | | Robot | Description | Reference | License | 13 | |-------|-------------|-----------|---------| 14 | | [__Cart-pole__](resources/cartpole/) | An ideal 1-D cart with vertical bar attached to it. | - | - | 15 | | [__Double integrator__](resources/double_integrator) | An ideal 1-D cart with dynamics model. | - | - | 16 | 17 | ### Complex robots 18 | 19 | | Robot | Description | Reference | License | 20 | |-------|-------------|-----------|---------| 21 | | [__ANYmal-C__](resources/anymal_c/) | The 12-DoF torque-controlled quadrupedal from ANYbotics AG | [Link](https://ieeexplore.ieee.org/document/7758092) | [BSD-3](https://github.com/ANYbotics/anymal_c_simple_description/blob/master/LICENSE) | 22 | | [__Ballbot__](resources/ballbot) | The ball-balancing mobile base (2D-XY + RPY). | [Link](https://arxiv.org/abs/1902.10415) | - | 23 | [__Franka Panda__](resources/mobile_manipulator/franka/) | A 7-DoF arm with parallel-jaw gripper. | [Link](https://www.franka.de/) | [Apache 2.0](http://wiki.ros.org/franka_description) | 24 | [__Kinova Jaco2__](resources/mobile_manipulator/kinova/) | The 6-DoF and 7-DoF arms with three fingers gripper. | [Link](https://www.franka.de/) | [BSD-3](https://github.com/Kinovarobotics/kinova-ros/blob/master/LICENSE) | 25 | [__Mabi-Mobile__](resources/mobile_manipulator/mabi_mobile/) | A 6-DoF arm with differential-drive base under holonomic constraint. | [Link](https://www.research-collection.ethz.ch/handle/20.500.11850/439902) | - | 26 | [__Ridgeback-UR5__](resources/mobile_manipulator/ridgeback_ur5/) | A 6-DoF UR-5 arm on ClearPath Ridgeback base. | - | [Apache 2.0](http://wiki.ros.org/action/show/universal_robots?action=show&redirect=universal_robot) | 27 | | [__PR2__](resources/mobile_manipulator/pr2) | The PR2 robot (omni-directional base). | [Link](https://ieeexplore.ieee.org/document/5980058) | [BSD-3](http://wiki.ros.org/pr2_description) | 28 | | [__Quadrotor__](resources/quadrotor) | An ideal quadrotor with its dynamics model. | - | - | 29 | -------------------------------------------------------------------------------- /docs/MobileManipulatorUrdfAssets.md: -------------------------------------------------------------------------------- 1 | # OCS2 Mobile Manipulator 2 | 3 | The `ocs2_mobile_manipulator` package supports various robotic arms and wheel-based mobile manipulators. The system model is determined by parsing the URDF and the task file. 4 | 5 | Over here, we specify the steps involved in creating the URDF used for the examples. 6 | 7 | * [Franka Panda](#franka-panda) 8 | * [Kinova Jaco2](#kinova-jaco2) 9 | * [Willow Garage PR2](#willow-garage-pr2) 10 | * [Clearpath Ridgeback with UR-5 arm](#clearpath-ridgeback-with-ur-5) 11 | 12 | ## Franka Panda 13 | 14 | * In the `src` directory of your catkin workspace, clone the official repository of the [Franka Panda](https://www.franka.de/): 15 | 16 | ```bash 17 | git clone git@github.com:frankaemika/franka_ros.git 18 | ``` 19 | 20 | * Build the necessary packages and source the workspace: 21 | 22 | ```bash 23 | catkin build franka_description ocs2_robotic_assets 24 | 25 | source devel/setup.bash 26 | ``` 27 | 28 | * Convert the xacro file to urdf format: 29 | 30 | ```bash 31 | rosrun xacro xacro -o $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/franka/urdf/panda.urdf $(rospack find franka_description)/robots/panda_arm.urdf.xacro hand:=true 32 | ``` 33 | 34 | * Copy all meshes from `franka_description` to `ocs2_robotic_assets/resources` directory: 35 | 36 | ```bash 37 | cp -r $(rospack find franka_description)/meshes $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/franka/meshes 38 | ``` 39 | 40 | * Replace the meshes locations in the robot's urdf 41 | 42 | ```bash 43 | sed -i 's+franka_description+ocs2_robotic_assets/resources/mobile_manipulator/franka+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/franka/urdf/panda.urdf 44 | ``` 45 | 46 | * Add a dummy link "root" to the URDF (KDL prefers the root of the tree to have an empty-link): 47 | 48 | ```xml 49 | ... 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | ... 59 | ``` 60 | 61 | ## Kinova Jaco2 62 | 63 | * In the `src` directory of your catkin workspace, clone the official repository of the [Kinova Jaco2](https://assistive.kinovarobotics.com/product/jaco-robotic-arm): 64 | 65 | ```bash 66 | git clone git@github.com:Kinovarobotics/kinova-ros.git 67 | ``` 68 | 69 | * Build the necessary packages and source the workspace: 70 | 71 | ```bash 72 | catkin build kinova_description ocs2_robotic_assets 73 | 74 | source devel/setup.bash 75 | ``` 76 | 77 | * Convert the xacro file to urdf format: 78 | 79 | ```bash 80 | # For Kinova Jaco2 (7-DOF) 81 | rosrun xacro xacro -o $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n7s300.urdf $(rospack find kinova_description)/urdf/j2n7s300_standalone.xacro 82 | # For Kinova Jaco2 (6-DOF) 83 | rosrun xacro xacro -o $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n6s300.urdf $(rospack find kinova_description)/urdf/j2n6s300_standalone.xacro 84 | ``` 85 | 86 | * Copy all meshes from `franka_description` to `ocs2_robotic_assets/resources` directory: 87 | 88 | ```bash 89 | cp -r $(rospack find kinova_description)/meshes $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/meshes 90 | ``` 91 | 92 | * Replace the meshes locations in the robot's urdf 93 | 94 | ```bash 95 | # For Kinova Jaco2 (7-DOF) 96 | sed -i 's+kinova_description+ocs2_robotic_assets/resources/mobile_manipulator/kinova+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n7s300.urdf 97 | # For Kinova Jaco2 (6-DOF) 98 | sed -i 's+kinova_description+ocs2_robotic_assets/resources/mobile_manipulator/kinova+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/kinova/urdf/j2n6s300.urdf 99 | ``` 100 | 101 | * In addition to above, we make the following changes to the URDF Wto make it more readable: 102 | 103 | * Replace all arm joint types from "continuous" to "revolute" with high joint limits 104 | * (optional) Removed all `gazebo` tags, i.e.: ``, `` 105 | * (optional) Removed the following links from the chain: `world` 106 | 107 | ## Willow Garage PR2 108 | 109 | * In the `src` directory of your catkin workspace, clone the official repository of the [PR2 robot](https://robots.ieee.org/robots/pr2/): 110 | 111 | ```bash 112 | git clone git@github.com:PR2/pr2_common.git 113 | ``` 114 | 115 | * Build the necessary packages and source the workspace: 116 | 117 | ```bash 118 | catkin build pr2_description ocs2_robotic_assets 119 | 120 | source devel/setup.bash 121 | ``` 122 | 123 | * Convert the xacro file to urdf format: 124 | 125 | ```bash 126 | rosrun xacro xacro -o $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/pr2/urdf/pr2.urdf $(rospack find franka_description)/robots/pr2.urdf.xacro 127 | ``` 128 | 129 | * Copy all meshes from `pr2_description` to `ocs2_robotic_assets/resources` directory: 130 | 131 | ```bash 132 | cp -r $(rospack find pr2_description)/meshes $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/pr2/meshes 133 | cp -r $(rospack find pr2_description)/materials $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/pr2/materials 134 | ``` 135 | 136 | * Replace the meshes locations in the robot's urdf 137 | 138 | ```bash 139 | sed -i 's+pr2_description+ocs2_robotic_assets/resources/mobile_manipulator/pr2+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/pr2/urdf/pr2.urdf 140 | ``` 141 | 142 | * In addition to above, we make the following changes to the URDF Wto make it more readable: 143 | 144 | * Replace all arm joint types from "continuous" to "revolute" with high joint limits 145 | * Changed all "screw" joints (i.e. `l_gripper_motor_screw_joint`, `r_gripper_motor_screw_joint`, `torso_lift_motor_screw_link`) to fixed joints 146 | * (optional) Removed all `gazebo` tags, i.e.: ``, `` 147 | 148 | ## Clearpath Ridgeback with UR-5 149 | 150 | * In the `src` directory of your catkin workspace, clone the official repository for the [Ridgeback](https://github.com/ridgeback/ridgeback_manipulation): 151 | 152 | ```bash 153 | git clone https://github.com/ridgeback/ridgeback_manipulation.git --recursive 154 | git clone https://github.com/ridgeback/ridgeback.git 155 | ``` 156 | 157 | * In the `src` directory of your catkin workspace, clone the packages for the arm to use (in this case [UR5](https://www.universal-robots.com/)): 158 | 159 | ```bash 160 | vcs import . < ./ridgeback_manipulation/ur.rosinstall 161 | ``` 162 | 163 | * Resolve all the ROS dependencies (top of your catkin workspace): 164 | 165 | ```bash 166 | rosdep install --from-paths src --ignore-src -r -y 167 | ``` 168 | 169 | * Build the necessary packages and source the workspace: 170 | 171 | ```bash 172 | catkin build ur_description ridgeback_description ridgeback_ur_description ocs2_robotic_assets 173 | 174 | source devel/setup.bash 175 | ``` 176 | 177 | * Set the arm to mount on Clearpath Ridgeback base: 178 | 179 | ``` 180 | source $(rospack find ridgeback_ur_description)/scripts/setup_ridgeback_ur5_envar 181 | ``` 182 | 183 | * Convert the xacro file to urdf format: 184 | 185 | ```bash 186 | rosrun xacro xacro -o $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/urdf/ridgeback_ur5.urdf $(rospack find ridgeback_description)/urdf/ridgeback.urdf.xacro 187 | ``` 188 | 189 | * Copy all meshes from `pr2_description` to `ocs2_robotic_assets/resources` directory: 190 | 191 | ```bash 192 | mkdir -p $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/meshes/base 193 | mkdir -p $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/meshes/ur5 194 | cp -r $(rospack find ridgeback_description)/meshes/* $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/meshes/base 195 | cp -r $(rospack find ur_description)/meshes/ur5/* $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/meshes/ur5 196 | ``` 197 | 198 | * Replace the meshes locations in the robot's urdf 199 | 200 | ```bash 201 | sed -i 's+ridgeback_description/meshes+ocs2_robotic_assets/resources/mobile_manipulator/ridgeback_ur5/meshes/base+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/urdf/ridgeback_ur5.urdf 202 | sed -i 's+ur_description/meshes/ur5+ocs2_robotic_assets/resources/mobile_manipulator/ridgeback_ur5/meshes/ur5+g' $(rospack find ocs2_robotic_assets)/resources/mobile_manipulator/ridgeback_ur5/urdf/ridgeback_ur5.urdf 203 | ``` 204 | 205 | * In addition to above, we make the following changes to the URDF Wto make it more readable: 206 | 207 | * Replace all wheel joint types from "continuous" to "fixed" 208 | * Replace `front_rocker` joint type from "revolute" to "fixed" 209 | * (optional) Removed all `gazebo` tags, i.e.: ``, `` 210 | -------------------------------------------------------------------------------- /include/ocs2_robotic_assets/.gitignore: -------------------------------------------------------------------------------- 1 | # Ignore everything in this directory 2 | * 3 | # Except this file 4 | !.gitignore 5 | !package_path.h.in 6 | -------------------------------------------------------------------------------- /include/ocs2_robotic_assets/package_path.h.in: -------------------------------------------------------------------------------- 1 | /****************************************************************************** 2 | Copyright (c) 2021, Farbod Farshidian. All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without 5 | modification, are permitted provided that the following conditions are met: 6 | 7 | * Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | * Redistributions in binary form must reproduce the above copyright notice, 11 | this list of conditions and the following disclaimer in the documentation 12 | and/or other materials provided with the distribution. 13 | 14 | * Neither the name of the copyright holder nor the names of its 15 | contributors may be used to endorse or promote products derived from 16 | this software without specific prior written permission. 17 | 18 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 19 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 20 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 21 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 22 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 23 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 24 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 25 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 26 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 27 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 28 | ******************************************************************************/ 29 | 30 | #pragma once 31 | 32 | #include 33 | #include 34 | 35 | namespace ocs2 { 36 | namespace robotic_assets { 37 | 38 | /** Gets the path to the package source directory. */ 39 | inline std::string getPath() { 40 | return "@PROJECT_SOURCE_DIR@"; 41 | } 42 | 43 | } // namespace robotic_assets 44 | } // namespace ocs2 -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | ocs2_robotic_assets 5 | 10.3.0 6 | This package contains all the URDF files need for the robotic examples. 7 | 8 | Farbod Farshidian 9 | 10 | BSD-3 11 | 12 | catkin 13 | 14 | 15 | -------------------------------------------------------------------------------- /resources/anymal_c/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright 2020, ANYbotics AG. 2 | 3 | Redistribution and use in source and binary forms, with or without 4 | modification, are permitted provided that the following conditions 5 | are met: 6 | 7 | 1. Redistributions of source code must retain the above copyright 8 | notice, this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright 11 | notice, this list of conditions and the following disclaimer in 12 | the documentation and/or other materials provided with the 13 | distribution. 14 | 15 | 3. Neither the name of the copyright holder nor the names of its 16 | contributors may be used to endorse or promote products derived 17 | from this software without specific prior written permission. 18 | 19 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 20 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 21 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 22 | A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 23 | HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 24 | SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 25 | LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 26 | DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 27 | THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 28 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /resources/anymal_c/meshes/base.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/ocs2_robotic_assets/b126d00d55f1e67905c3c1516995466df6873c5c/resources/anymal_c/meshes/base.jpg -------------------------------------------------------------------------------- /resources/anymal_c/meshes/battery.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3 7 | 8 | 2020-01-07T14:47:32 9 | 2020-01-07T14:47:32 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | battery 19 | 20 | 21 | 22 | 23 | battery-surface 24 | 25 | 26 | 27 | 28 | 29 | 0 0 0 1 30 | 31 | 32 | 33 | 34 | 35 | 1.45 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | battery.jpg 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | -0.225881 -0.06249898 -0.03684729 -0.225881 -0.06249898 0.03725165 -0.225881 0.06249898 -0.03684729 -0.225881 0.06249898 0.03725165 0.232213 -0.06249898 -0.03684729 0.232213 -0.06249898 0.03725165 0.232213 0.06249898 -0.03684729 0.232213 0.06249898 0.03725165 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | -1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 0.8431081 0.2728654 1 0 1 0.2728654 0.6862162 1 0.8431079 0 0.8431081 1 0.8431081 0.5457308 1 0.2728654 1 0.5457308 0.6862159 0 0.5293241 1 0.5293239 0 0.264662 0 0.5293239 0.9999999 0.2646622 0.9999999 0.264662 0.9999999 0 0 0.2646618 0 0.8431081 0.2728654 0.8431081 0 1 0 0.6862162 1 0.6862161 0 0.8431079 0 0.8431081 0.5457308 0.8431081 0.2728654 1 0.2728654 0.6862159 0 0.6862161 1 0.5293241 1 0.264662 0 0.5293238 0 0.5293239 0.9999999 0.264662 0.9999999 1.73529e-7 0.9999999 0 0 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 |

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provided with the distribution. 13 | * Neither the name of the copyright holder nor the names of its contributors 14 | may be used to endorse or promote products derived from this software 15 | without specific prior written permission. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 18 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 19 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 20 | A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 21 | CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 22 | EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 23 | PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 24 | PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 25 | LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 26 | NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 27 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 28 | -------------------------------------------------------------------------------- /resources/mobile_manipulator/pr2/materials/textures/pr2_caster_texture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leggedrobotics/ocs2_robotic_assets/b126d00d55f1e67905c3c1516995466df6873c5c/resources/mobile_manipulator/pr2/materials/textures/pr2_caster_texture.png 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