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OCS2 Robotic Assets

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.

Assets

Toy robots

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. - -

Complex robots

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. - -

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