From e6912ebc1c02424b0924a7d71180b921a4c522f4 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Mon, 28 Mar 2022 20:20:26 +0200 Subject: [PATCH] moves all assets from ocs2 to repo --- CMakeLists.txt | 35 + include/ocs2_robotic_assets/.gitignore | 5 + include/ocs2_robotic_assets/package_path.h.in | 44 + package.xml | 14 + resources/anymal_c/LICENSE | 29 + resources/anymal_c/meshes/base.dae | 326 + resources/anymal_c/meshes/base.jpg | Bin 0 -> 198456 bytes resources/anymal_c/meshes/battery.dae | 115 + resources/anymal_c/meshes/battery.jpg | Bin 0 -> 113546 bytes resources/anymal_c/meshes/bottom_shell.dae | 115 + resources/anymal_c/meshes/bottom_shell.jpg | Bin 0 -> 169218 bytes resources/anymal_c/meshes/depth_camera.dae | 115 + resources/anymal_c/meshes/depth_camera.jpg | Bin 0 -> 190120 bytes resources/anymal_c/meshes/drive.dae | 115 + resources/anymal_c/meshes/drive.jpg | Bin 0 -> 178021 bytes resources/anymal_c/meshes/face.dae | 115 + resources/anymal_c/meshes/face.jpg | Bin 0 -> 301962 bytes resources/anymal_c/meshes/foot.dae | 115 + resources/anymal_c/meshes/foot.jpg | Bin 0 -> 189653 bytes resources/anymal_c/meshes/handle.dae | 119 + resources/anymal_c/meshes/handle.jpg | Bin 0 -> 170512 bytes resources/anymal_c/meshes/hatch.dae | 115 + resources/anymal_c/meshes/hatch.jpg | Bin 0 -> 105331 bytes resources/anymal_c/meshes/hip.jpg | Bin 0 -> 232010 bytes resources/anymal_c/meshes/hip_l.dae | 115 + resources/anymal_c/meshes/hip_r.dae | 115 + resources/anymal_c/meshes/lidar.dae | 115 + resources/anymal_c/meshes/lidar.jpg | Bin 0 -> 184577 bytes resources/anymal_c/meshes/lidar_cage.dae | 115 + resources/anymal_c/meshes/lidar_cage.jpg | Bin 0 -> 282722 bytes resources/anymal_c/meshes/remote.dae | 114 + resources/anymal_c/meshes/remote.jpg | Bin 0 -> 109971 bytes resources/anymal_c/meshes/shank.jpg | Bin 0 -> 168946 bytes resources/anymal_c/meshes/shank_l.dae | 115 + resources/anymal_c/meshes/shank_r.dae | 115 + resources/anymal_c/meshes/thigh.dae | 115 + resources/anymal_c/meshes/thigh.jpg | Bin 0 -> 236107 bytes resources/anymal_c/meshes/top_shell.dae | 115 + resources/anymal_c/meshes/top_shell.jpg | Bin 0 -> 218160 bytes .../anymal_c/meshes/wide_angle_camera.dae | 115 + .../anymal_c/meshes/wide_angle_camera.jpg | Bin 0 -> 155846 bytes resources/anymal_c/urdf/anymal.urdf | 1599 + resources/ballbot/meshes/base.obj | 234729 +++++++++++++++ resources/ballbot/urdf/ballbot.urdf | 111 + resources/cartpole/urdf/cartpole.urdf | 90 + .../urdf/double_integrator.urdf | 81 + .../urdf/mobile_manipulator.urdf | 289 + resources/quadrotor/meshes/quadrotor.obj | 1696 + resources/quadrotor/urdf/quadrotor.urdf | 26 + 49 files changed, 241147 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 include/ocs2_robotic_assets/.gitignore create mode 100644 include/ocs2_robotic_assets/package_path.h.in create mode 100644 package.xml create mode 100644 resources/anymal_c/LICENSE create mode 100644 resources/anymal_c/meshes/base.dae create mode 100644 resources/anymal_c/meshes/base.jpg create mode 100644 resources/anymal_c/meshes/battery.dae create mode 100644 resources/anymal_c/meshes/battery.jpg create mode 100644 resources/anymal_c/meshes/bottom_shell.dae create mode 100755 resources/anymal_c/meshes/bottom_shell.jpg create mode 100644 resources/anymal_c/meshes/depth_camera.dae create mode 100644 resources/anymal_c/meshes/depth_camera.jpg create mode 100644 resources/anymal_c/meshes/drive.dae create mode 100644 resources/anymal_c/meshes/drive.jpg create mode 100644 resources/anymal_c/meshes/face.dae create mode 100755 resources/anymal_c/meshes/face.jpg create mode 100644 resources/anymal_c/meshes/foot.dae create mode 100644 resources/anymal_c/meshes/foot.jpg create mode 100644 resources/anymal_c/meshes/handle.dae create mode 100644 resources/anymal_c/meshes/handle.jpg create mode 100644 resources/anymal_c/meshes/hatch.dae create mode 100644 resources/anymal_c/meshes/hatch.jpg create mode 100755 resources/anymal_c/meshes/hip.jpg create mode 100644 resources/anymal_c/meshes/hip_l.dae create mode 100644 resources/anymal_c/meshes/hip_r.dae create mode 100644 resources/anymal_c/meshes/lidar.dae create mode 100644 resources/anymal_c/meshes/lidar.jpg create mode 100644 resources/anymal_c/meshes/lidar_cage.dae create mode 100644 resources/anymal_c/meshes/lidar_cage.jpg create mode 100644 resources/anymal_c/meshes/remote.dae create mode 100644 resources/anymal_c/meshes/remote.jpg create mode 100644 resources/anymal_c/meshes/shank.jpg create mode 100644 resources/anymal_c/meshes/shank_l.dae create mode 100644 resources/anymal_c/meshes/shank_r.dae create mode 100644 resources/anymal_c/meshes/thigh.dae create mode 100644 resources/anymal_c/meshes/thigh.jpg create mode 100644 resources/anymal_c/meshes/top_shell.dae create mode 100644 resources/anymal_c/meshes/top_shell.jpg create mode 100644 resources/anymal_c/meshes/wide_angle_camera.dae create mode 100644 resources/anymal_c/meshes/wide_angle_camera.jpg create mode 100644 resources/anymal_c/urdf/anymal.urdf create mode 100644 resources/ballbot/meshes/base.obj create mode 100644 resources/ballbot/urdf/ballbot.urdf create mode 100755 resources/cartpole/urdf/cartpole.urdf create mode 100755 resources/double_integrator/urdf/double_integrator.urdf create mode 100644 resources/mobile_manipulator/urdf/mobile_manipulator.urdf create mode 100644 resources/quadrotor/meshes/quadrotor.obj create mode 100644 resources/quadrotor/urdf/quadrotor.urdf 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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