moves all assets from ocs2 to repo

CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ocs2_robotic_assets)
+
+find_package(catkin)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+)
+
+###########
+## Build ##
+###########
+
+# Resolve for the package path at compile time.
+configure_file (
+  "${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/package_path.h.in"
+  "${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/package_path.h" @ONLY
+)
+
+#############
+## Install ##
+#############
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(DIRECTORY resources
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

include/ocs2_robotic_assets/.gitignore

@@ -0,0 +1,5 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore
+!package_path.h.in 

include/ocs2_robotic_assets/package_path.h.in

@@ -0,0 +1,44 @@
+/******************************************************************************
+Copyright (c) 2021, Farbod Farshidian. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+ * Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ******************************************************************************/
+
+#pragma once
+
+#include <cstddef>
+#include <string>
+
+namespace ocs2 {
+namespace robotic_assets {
+
+/** Gets the path to the package source directory. */
+inline std::string getPath() {
+  return "@PROJECT_SOURCE_DIR@";
+}
+
+}  // namespace robotic_assets
+}  // namespace ocs2

package.xml

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<package format="2">
+
+  <name>ocs2_robotic_assets</name>
+  <version>0.0.0</version>
+  <description>This package contains all the URDF files need for the robotic examples.</description>
+
+  <maintainer email="[email protected]">Farbod Farshidian</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>

resources/anymal_c/LICENSE

@@ -0,0 +1,29 @@
+Copyright 2020, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

resources/anymal_c/meshes/battery.dae

@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3</authoring_tool>
+    </contributor>
+    <created>2020-01-07T14:47:32</created>
+    <modified>2020-01-07T14:47:32</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="battery-effect">
+      <profile_COMMON>
+        <newparam sid="battery-surface">
+          <surface type="2D">
+            <init_from>battery</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="battery-sampler">
+          <sampler2D>
+            <source>battery-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="battery-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="battery" name="battery">
+      <init_from>battery.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="battery-material" name="battery">
+      <instance_effect url="#battery-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">-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</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map">
+          <float_array id="Cube-mesh-map-array" count="72">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</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="battery-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="AM3_Battery_LP" name="AM3 Battery LP" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 -0.03329167 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="AM3 Battery LP">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="battery-material" target="#battery-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

resources/anymal_c/meshes/depth_camera.dae

@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-02-20T10:55:16</created>
+    <modified>2020-02-20T10:55:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="depth_camera-effect">
+      <profile_COMMON>
+        <newparam sid="depth_camera-surface">
+          <surface type="2D">
+            <init_from>depth_camera</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="depth_camera-sampler">
+          <sampler2D>
+            <source>depth_camera-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="depth_camera-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="depth_camera" name="depth_camera">
+      <init_from>depth_camera.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="depth_camera-material" name="depth_camera">
+      <instance_effect url="#depth_camera-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">0 -0.04699999 -0.01968461 0 -0.04699999 0.01951932 0 0.04699999 -0.01968461 0 0.04699999 0.01951932 0.03039997 -0.04699999 -0.01968461 0.03039997 -0.04699999 0.01951932 0.03039997 0.04699999 -0.01968461 0.03039997 0.04699999 0.01951932</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">-1 0 0 1 0 0 0 0 1 0 -1 0 0 1 0 0 0 -1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-map">
+          <float_array id="Cube-mesh-map-array" count="72">0.2816218 0.7056847 0.5632433 0 0.5632433 0.7056847 1.60564e-7 0.7056847 0.2816215 0 0.2816217 0.7056847 0.7816217 0.7056846 1 0 1 0.7056846 0.5632433 0.7056847 0.344865 1 0.344865 0.7056847 0.7816216 0.7056847 0.5632434 1 0.5632433 0.7056847 0.7816217 0 0.5632433 0.7056846 0.5632434 0 0.2816218 0.7056847 0.2816217 0 0.5632433 0 1.60564e-7 0.7056847 0 0 0.2816215 0 0.7816217 0.7056846 0.7816217 0 1 0 0.5632433 0.7056847 0.5632433 1 0.344865 1 0.7816216 0.7056847 0.7816218 1 0.5632434 1 0.7816217 0 0.7816216 0.7056846 0.5632433 0.7056846</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-map-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <triangles material="depth_camera-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube-mesh-map" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 7 1 3 4 1 4 6 1 5 3 2 6 5 2 7 7 2 8 1 3 9 4 3 10 5 3 11 7 4 12 2 4 13 3 4 14 6 5 15 0 5 16 2 5 17 1 0 18 3 0 19 2 0 20 7 1 21 5 1 22 4 1 23 3 2 24 1 2 25 5 2 26 1 3 27 0 3 28 4 3 29 7 4 30 6 4 31 2 4 32 6 5 33 4 5 34 0 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Realsense_LP" name="Realsense LP" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Realsense LP">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="depth_camera-material" target="#depth_camera-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>