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.
Note: For reproducibility, the steps involved in creating the mobile-manipulator assets are described
in docs/MobileManipulatorUrdfAssets.md.
| Robot | Description | Reference | License |
|---|---|---|---|
| Cart-pole | An ideal 1-D cart with vertical bar attached to it. | - | - |
| Double integrator | An ideal 1-D cart with dynamics model. | - | - |
| Robot | Description | Reference | License |
|---|---|---|---|
| ANYmal-C | The 12-DoF torque-controlled quadrupedal from ANYbotics AG | Link | BSD-3 |
| Ballbot | The ball-balancing mobile base (2D-XY + RPY). | Link | - |
| Franka Panda | A 7-DoF arm with parallel-jaw gripper. | Link | Apache 2.0 |
| Kinova Jaco2 | The 6-DoF and 7-DoF arms with three fingers gripper. | Link | BSD-3 |
| Mabi-Mobile | A 6-DoF arm with differential-drive base under holonomic constraint. | Link | - |
| Ridgeback-UR5 | A 6-DoF UR-5 arm on ClearPath Ridgeback base. | - | Apache 2.0 |
| PR2 | The PR2 robot (omni-directional base). | Link | BSD-3 |
| Quadrotor | An ideal quadrotor with its dynamics model. | - | - |