diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7a06af7 --- /dev/null +++ b/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} +) \ No newline at end of file diff --git a/include/ocs2_robotic_assets/.gitignore b/include/ocs2_robotic_assets/.gitignore new file mode 100644 index 0000000..c60c6dc --- /dev/null +++ b/include/ocs2_robotic_assets/.gitignore @@ -0,0 +1,5 @@ +# Ignore everything in this directory +* +# Except this file +!.gitignore +!package_path.h.in diff --git a/include/ocs2_robotic_assets/package_path.h.in b/include/ocs2_robotic_assets/package_path.h.in new file mode 100644 index 0000000..08d0b1f --- /dev/null +++ b/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 +#include + +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 \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..1c892cf --- /dev/null +++ b/package.xml @@ -0,0 +1,14 @@ + + + + ocs2_robotic_assets + 0.0.0 + This package contains all the URDF files need for the robotic examples. + + Farbod Farshidian + + BSD-3 + + catkin + + diff --git a/resources/anymal_c/LICENSE b/resources/anymal_c/LICENSE new file mode 100644 index 0000000..4defe40 --- /dev/null +++ b/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. diff --git a/resources/anymal_c/meshes/base.dae b/resources/anymal_c/meshes/base.dae new file mode 100644 index 0000000..c07f525 --- /dev/null +++ b/resources/anymal_c/meshes/base.dae @@ -0,0 +1,326 @@ + + + + + Blender User + Blender 2.81.16 commit date:2019-11-20, commit time:14:27, hash:26bd5ebd42e3 + + 2020-01-07T14:05:52 + 2020-01-07T14:05:52 + + Z_UP + + + + + + + base + + + + + base-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 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147 192 275 148 193 279 149 194 3929 150 195 3930 151 196 3928 152 197 272 153 198 276 154 199 270 155 200 455 156 201 369 157 202 371 158 203 109 159 204 37 160 205 110 161 206 110 161 207 37 160 208 111 162 209 110 161 210 111 162 211 112 163 212 112 163 213 111 162 214 113 164 215 112 163 216 113 164 217 32 39 218 283 165 219 179 166 220 282 167 221 587 168 222 833 169 223 588 170 224 5 171 225 11 56 226 47 58 227 425 172 228 440 173 229 441 174 230 5375 175 231 5378 176 232 5322 177 233 5382 178 234 5379 179 235 5381 180 236 5380 181 237 5324 182 238 5323 183 239 340 184 240 460 185 241 341 186 242 293 187 243 291 188 244 292 189 245 292 189 246 294 190 247 293 187 248 273 191 249 293 187 250 294 190 251 294 190 252 295 192 253 273 191 254 103 145 255 126 193 256 99 141 257 295 192 258 296 194 259 269 195 260 99 141 261 127 196 262 101 143 263 104 146 264 128 197 265 103 145 266 5313 198 267 5337 199 268 5350 200 269 124 201 270 129 202 271 130 203 272 122 204 273 130 203 274 18 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