├── opendog_description ├── .gitattributes ├── share │ └── opendog_rviz.png ├── CMakeLists.txt ├── package.xml ├── launch │ └── test_opendog_description.launch ├── urdf │ ├── opendog.urdf.xacro │ └── leg_mechanism.xacro ├── config │ └── opendog.rviz ├── LICENSE └── meshes │ ├── lower_leg.dae │ ├── hip.dae │ ├── right_upper_leg.dae │ └── left_upper_leg.dae ├── opendog_robot ├── CMakeLists.txt ├── package.xml └── LICENSE ├── README.md └── LICENSE /opendog_description/.gitattributes: -------------------------------------------------------------------------------- 1 | *.dae binary 2 | *.DAE binary 3 | *.stl binary 4 | *.STL binary 5 | -------------------------------------------------------------------------------- /opendog_description/share/opendog_rviz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IanTheEngineer/opendog_robot/HEAD/opendog_description/share/opendog_rviz.png -------------------------------------------------------------------------------- /opendog_robot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(opendog_robot) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /opendog_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | 3 | project(opendog_description) 4 | 5 | find_package(catkin REQUIRED) 6 | 7 | catkin_package() 8 | 9 | foreach(dir config meshes urdf) 10 | install(DIRECTORY ${dir}/ 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) 12 | endforeach(dir) 13 | -------------------------------------------------------------------------------- /opendog_robot/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | opendog_robot 4 | 0.0.1 5 | The opendog_robot package 6 | 7 | Ian McMahon 8 | Apache 2.0 9 | catkin 10 | opendog_description 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /opendog_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | opendog_description 4 | 0.0.0 5 | The opendog_description package 6 | 7 | Ian McMahon 8 | 9 | Apache 2.0 10 | 11 | catkin 12 | robot_state_publisher 13 | joint_state_publisher 14 | 15 | 16 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # opendog_robot 2 | 3 | This repository is inspired by (and uses CAD from) James Bruton from XRobots: 4 | https://github.com/XRobots/openDog 5 | 6 | ![openDog in ROS](opendog_description/share/opendog_rviz.png?raw=true "openDog in ROS") 7 | 8 | While the URDF is still a work in progress, to launch openDog in RViz: 9 | 1) Install your ROS Distro of choice: http://wiki.ros.org/ROS/Installation 10 | 2) Run the following commands in the terminal: 11 | ``` 12 | $ mkdir -p ~/ros_ws/src 13 | $ cd ~/ros_ws/src/ 14 | $ git clone https://github.com/IanTheEngineer/opendog_robot.git 15 | $ cd ~/ros_ws/ 16 | $ source /opt/ros//setup.bash 17 | $ catkin_make 18 | $ source ~/ros_ws/devel/setup.bash 19 | $ roslaunch opendog_description test_opendog_description.launch 20 | ``` 21 | -------------------------------------------------------------------------------- /opendog_description/launch/test_opendog_description.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /opendog_description/urdf/opendog.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /opendog_description/urdf/leg_mechanism.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /opendog_description/config/opendog.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 89 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /RobotModel1/Links1 11 | Splitter Ratio: 0.5 12 | Tree Height: 349 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | - /Publish Point1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.5886790156364441 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: "" 32 | - Class: rviz/Displays 33 | Help Height: 78 34 | Name: Displays 35 | Property Tree Widget: 36 | Expanded: 37 | - /Global Options1 38 | - /Status1 39 | - /TF1 40 | Splitter Ratio: 0.5 41 | Tree Height: 546 42 | Visualization Manager: 43 | Class: "" 44 | Displays: 45 | - Alpha: 0.5 46 | Cell Size: 1 47 | Class: rviz/Grid 48 | Color: 160; 160; 164 49 | Enabled: true 50 | Line Style: 51 | Line Width: 0.029999999329447746 52 | Value: Lines 53 | Name: Grid 54 | Normal Cell Count: 0 55 | Offset: 56 | X: 0 57 | Y: 0 58 | Z: 0 59 | Plane: XY 60 | Plane Cell Count: 10 61 | Reference Frame: 62 | Value: true 63 | - Alpha: 0.800000011920929 64 | Class: rviz/RobotModel 65 | Collision Enabled: false 66 | Enabled: true 67 | Links: 68 | All Links Enabled: true 69 | Expand Joint Details: false 70 | Expand Link Details: false 71 | Expand Tree: false 72 | Link Tree Style: Links in Alphabetic Order 73 | base_link: 74 | Alpha: 1 75 | Show Axes: false 76 | Show Trail: false 77 | body: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | Value: true 82 | front_left_foot: 83 | Alpha: 1 84 | Show Axes: false 85 | Show Trail: false 86 | front_left_hip: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | Value: true 91 | front_left_leg_mount: 92 | Alpha: 1 93 | Show Axes: false 94 | Show Trail: false 95 | front_left_lower_leg: 96 | Alpha: 1 97 | Show Axes: false 98 | Show Trail: false 99 | Value: true 100 | front_left_upper_leg: 101 | Alpha: 1 102 | Show Axes: false 103 | Show Trail: false 104 | Value: true 105 | front_right_foot: 106 | Alpha: 1 107 | Show Axes: false 108 | Show Trail: false 109 | front_right_hip: 110 | Alpha: 1 111 | Show Axes: false 112 | Show Trail: false 113 | Value: true 114 | front_right_leg_mount: 115 | Alpha: 1 116 | Show Axes: false 117 | Show Trail: false 118 | front_right_lower_leg: 119 | Alpha: 1 120 | Show Axes: false 121 | Show Trail: false 122 | Value: true 123 | front_right_upper_leg: 124 | Alpha: 1 125 | Show Axes: false 126 | Show Trail: false 127 | Value: true 128 | rear_left_foot: 129 | Alpha: 1 130 | Show Axes: false 131 | Show Trail: false 132 | rear_left_hip: 133 | Alpha: 1 134 | Show Axes: false 135 | Show Trail: false 136 | Value: true 137 | rear_left_leg_mount: 138 | Alpha: 1 139 | Show Axes: false 140 | Show Trail: false 141 | rear_left_lower_leg: 142 | Alpha: 1 143 | Show Axes: false 144 | Show Trail: false 145 | Value: true 146 | rear_left_upper_leg: 147 | Alpha: 1 148 | Show Axes: false 149 | Show Trail: false 150 | Value: true 151 | rear_right_foot: 152 | Alpha: 1 153 | Show Axes: false 154 | Show Trail: false 155 | rear_right_hip: 156 | Alpha: 1 157 | Show Axes: false 158 | Show Trail: false 159 | Value: true 160 | rear_right_leg_mount: 161 | Alpha: 1 162 | Show Axes: false 163 | Show Trail: false 164 | rear_right_lower_leg: 165 | Alpha: 1 166 | Show Axes: false 167 | Show Trail: false 168 | Value: true 169 | rear_right_upper_leg: 170 | Alpha: 1 171 | Show Axes: false 172 | Show Trail: false 173 | Value: true 174 | Name: RobotModel 175 | Robot Description: robot_description 176 | TF Prefix: "" 177 | Update Interval: 0 178 | Value: true 179 | Visual Enabled: true 180 | - Class: rviz/TF 181 | Enabled: true 182 | Frame Timeout: 15 183 | Frames: 184 | All Enabled: true 185 | base_link: 186 | Value: true 187 | body: 188 | Value: true 189 | front_left_foot: 190 | Value: true 191 | front_left_hip: 192 | Value: true 193 | front_left_leg_mount: 194 | Value: true 195 | front_left_lower_leg: 196 | Value: true 197 | front_left_upper_leg: 198 | Value: true 199 | front_right_foot: 200 | Value: true 201 | front_right_hip: 202 | Value: true 203 | front_right_leg_mount: 204 | Value: true 205 | front_right_lower_leg: 206 | Value: true 207 | front_right_upper_leg: 208 | Value: true 209 | rear_left_foot: 210 | Value: true 211 | rear_left_hip: 212 | Value: true 213 | rear_left_leg_mount: 214 | Value: true 215 | rear_left_lower_leg: 216 | Value: true 217 | rear_left_upper_leg: 218 | Value: true 219 | rear_right_foot: 220 | Value: true 221 | rear_right_hip: 222 | Value: true 223 | rear_right_leg_mount: 224 | Value: true 225 | rear_right_lower_leg: 226 | Value: true 227 | rear_right_upper_leg: 228 | Value: true 229 | Marker Scale: 1 230 | Name: TF 231 | Show Arrows: true 232 | Show Axes: true 233 | Show Names: false 234 | Tree: 235 | base_link: 236 | body: 237 | {} 238 | front_left_leg_mount: 239 | front_left_hip: 240 | front_left_upper_leg: 241 | front_left_lower_leg: 242 | front_left_foot: 243 | {} 244 | front_right_leg_mount: 245 | front_right_hip: 246 | front_right_upper_leg: 247 | front_right_lower_leg: 248 | front_right_foot: 249 | {} 250 | rear_left_leg_mount: 251 | rear_left_hip: 252 | rear_left_upper_leg: 253 | rear_left_lower_leg: 254 | rear_left_foot: 255 | {} 256 | rear_right_leg_mount: 257 | rear_right_hip: 258 | rear_right_upper_leg: 259 | rear_right_lower_leg: 260 | rear_right_foot: 261 | {} 262 | Update Interval: 0 263 | Value: true 264 | Enabled: true 265 | Global Options: 266 | Background Color: 48; 48; 48 267 | Default Light: true 268 | Fixed Frame: base_link 269 | Frame Rate: 30 270 | Name: root 271 | Tools: 272 | - Class: rviz/Interact 273 | Hide Inactive Objects: true 274 | - Class: rviz/MoveCamera 275 | - Class: rviz/Select 276 | - Class: rviz/FocusCamera 277 | - Class: rviz/Measure 278 | - Class: rviz/SetInitialPose 279 | Topic: /initialpose 280 | - Class: rviz/SetGoal 281 | Topic: /move_base_simple/goal 282 | - Class: rviz/PublishPoint 283 | Single click: true 284 | Topic: /clicked_point 285 | Value: true 286 | Views: 287 | Current: 288 | Class: rviz/Orbit 289 | Distance: 1.0682549476623535 290 | Enable Stereo Rendering: 291 | Stereo Eye Separation: 0.05999999865889549 292 | Stereo Focal Distance: 1 293 | Swap Stereo Eyes: false 294 | Value: false 295 | Focal Point: 296 | X: 0.26057153940200806 297 | Y: -0.21769797801971436 298 | Z: -0.07212114334106445 299 | Focal Shape Fixed Size: true 300 | Focal Shape Size: 0.05000000074505806 301 | Invert Z Axis: false 302 | Name: Current View 303 | Near Clip Distance: 0.009999999776482582 304 | Pitch: 0.44039997458457947 305 | Target Frame: 306 | Value: Orbit (rviz) 307 | Yaw: -0.7020902633666992 308 | Saved: ~ 309 | Window Geometry: 310 | Displays: 311 | collapsed: false 312 | Height: 786 313 | Hide Left Dock: false 314 | Hide Right Dock: false 315 | QMainWindow State: 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316 | Selection: 317 | collapsed: false 318 | Time: 319 | collapsed: false 320 | Tool Properties: 321 | collapsed: false 322 | Views: 323 | collapsed: false 324 | Width: 1146 325 | X: 234 326 | Y: 94 327 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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Subject to the terms and conditions of 74 | this License, each Contributor hereby grants to You a perpetual, 75 | worldwide, non-exclusive, no-charge, royalty-free, irrevocable 76 | (except as stated in this section) patent license to make, have made, 77 | use, offer to sell, sell, import, and otherwise transfer the Work, 78 | where such license applies only to those patent claims licensable 79 | by such Contributor that are necessarily infringed by their 80 | Contribution(s) alone or by combination of their Contribution(s) 81 | with the Work to which such Contribution(s) was submitted. If You 82 | institute patent litigation against any entity (including a 83 | cross-claim or counterclaim in a lawsuit) alleging that the Work 84 | or a Contribution incorporated within the Work constitutes direct 85 | or contributory patent infringement, then any patent licenses 86 | granted to You under this License for that Work shall terminate 87 | as of the date such litigation is filed. 88 | 89 | 4. Redistribution. You may reproduce and distribute copies of the 90 | Work or Derivative Works thereof in any medium, with or without 91 | modifications, and in Source or Object form, provided that You 92 | meet the following conditions: 93 | 94 | (a) You must give any other recipients of the Work or 95 | Derivative Works a copy of this License; and 96 | 97 | (b) You must cause any modified files to carry prominent notices 98 | stating that You changed the files; and 99 | 100 | (c) You must retain, in the Source form of any Derivative Works 101 | that You distribute, all copyright, patent, trademark, and 102 | attribution notices from the Source form of the Work, 103 | excluding those notices that do not pertain to any part of 104 | the Derivative Works; and 105 | 106 | (d) If the Work includes a "NOTICE" text file as part of its 107 | distribution, then any Derivative Works that You distribute must 108 | include a readable copy of the attribution notices contained 109 | within such NOTICE file, excluding those notices that do not 110 | pertain to any part of the Derivative Works, in at least one 111 | of the following places: within a NOTICE text file distributed 112 | as part of the Derivative Works; within the Source form or 113 | documentation, if provided along with the Derivative Works; or, 114 | within a display generated by the Derivative Works, if and 115 | wherever such third-party notices normally appear. The contents 116 | of the NOTICE file are for informational purposes only and 117 | do not modify the License. You may add Your own attribution 118 | notices within Derivative Works that You distribute, alongside 119 | or as an addendum to the NOTICE text from the Work, provided 120 | that such additional attribution notices cannot be construed 121 | as modifying the License. 122 | 123 | You may add Your own copyright statement to Your modifications and 124 | may provide additional or different license terms and conditions 125 | for use, reproduction, or distribution of Your modifications, or 126 | for any such Derivative Works as a whole, provided Your use, 127 | reproduction, and distribution of the Work otherwise complies with 128 | the conditions stated in this License. 129 | 130 | 5. Submission of Contributions. Unless You explicitly state otherwise, 131 | any Contribution intentionally submitted for inclusion in the Work 132 | by You to the Licensor shall be under the terms and conditions of 133 | this License, without any additional terms or conditions. 134 | Notwithstanding the above, nothing herein shall supersede or modify 135 | the terms of any separate license agreement you may have executed 136 | with Licensor regarding such Contributions. 137 | 138 | 6. Trademarks. This License does not grant permission to use the trade 139 | names, trademarks, service marks, or product names of the Licensor, 140 | except as required for reasonable and customary use in describing the 141 | origin of the Work and reproducing the content of the NOTICE file. 142 | 143 | 7. Disclaimer of Warranty. Unless required by applicable law or 144 | agreed to in writing, Licensor provides the Work (and each 145 | Contributor provides its Contributions) on an "AS IS" BASIS, 146 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or 147 | implied, including, without limitation, any warranties or conditions 148 | of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A 149 | PARTICULAR PURPOSE. You are solely responsible for determining the 150 | appropriateness of using or redistributing the Work and assume any 151 | risks associated with Your exercise of permissions under this License. 152 | 153 | 8. Limitation of Liability. In no event and under no legal theory, 154 | whether in tort (including negligence), contract, or otherwise, 155 | unless required by applicable law (such as deliberate and grossly 156 | negligent acts) or agreed to in writing, shall any Contributor be 157 | liable to You for damages, including any direct, indirect, special, 158 | incidental, or consequential damages of any character arising as a 159 | result of this License or out of the use or inability to use the 160 | Work (including but not limited to damages for loss of goodwill, 161 | work stoppage, computer failure or malfunction, or any and all 162 | other commercial damages or losses), even if such Contributor 163 | has been advised of the possibility of such damages. 164 | 165 | 9. Accepting Warranty or Additional Liability. While redistributing 166 | the Work or Derivative Works thereof, You may choose to offer, 167 | and charge a fee for, acceptance of support, warranty, indemnity, 168 | or other liability obligations and/or rights consistent with this 169 | License. However, in accepting such obligations, You may act only 170 | on Your own behalf and on Your sole responsibility, not on behalf 171 | of any other Contributor, and only if You agree to indemnify, 172 | defend, and hold each Contributor harmless for any liability 173 | incurred by, or claims asserted against, such Contributor by reason 174 | of your accepting any such warranty or additional liability. 175 | 176 | END OF TERMS AND CONDITIONS 177 | 178 | APPENDIX: How to apply the Apache License to your work. 179 | 180 | To apply the Apache License to your work, attach the following 181 | boilerplate notice, with the fields enclosed by brackets "{}" 182 | replaced with your own identifying information. (Don't include 183 | the brackets!) The text should be enclosed in the appropriate 184 | comment syntax for the file format. We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright (c) 2018, Ian McMahon 190 | Copyright (c) 2018, James Bruton, XRobots 191 | 192 | Licensed under the Apache License, Version 2.0 (the "License"); 193 | you may not use this file except in compliance with the License. 194 | You may obtain a copy of the License at 195 | 196 | http://www.apache.org/licenses/LICENSE-2.0 197 | 198 | Unless required by applicable law or agreed to in writing, software 199 | distributed under the License is distributed on an "AS IS" BASIS, 200 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 201 | See the License for the specific language governing permissions and 202 | limitations under the License. 203 | -------------------------------------------------------------------------------- /opendog_description/LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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Unless required by applicable law or 144 | agreed to in writing, Licensor provides the Work (and each 145 | Contributor provides its Contributions) on an "AS IS" BASIS, 146 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or 147 | implied, including, without limitation, any warranties or conditions 148 | of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A 149 | PARTICULAR PURPOSE. You are solely responsible for determining the 150 | appropriateness of using or redistributing the Work and assume any 151 | risks associated with Your exercise of permissions under this License. 152 | 153 | 8. Limitation of Liability. In no event and under no legal theory, 154 | whether in tort (including negligence), contract, or otherwise, 155 | unless required by applicable law (such as deliberate and grossly 156 | negligent acts) or agreed to in writing, shall any Contributor be 157 | liable to You for damages, including any direct, indirect, special, 158 | incidental, or consequential damages of any character arising as a 159 | result of this License or out of the use or inability to use the 160 | Work (including but not limited to damages for loss of goodwill, 161 | work stoppage, computer failure or malfunction, or any and all 162 | other commercial damages or losses), even if such Contributor 163 | has been advised of the possibility of such damages. 164 | 165 | 9. Accepting Warranty or Additional Liability. While redistributing 166 | the Work or Derivative Works thereof, You may choose to offer, 167 | and charge a fee for, acceptance of support, warranty, indemnity, 168 | or other liability obligations and/or rights consistent with this 169 | License. However, in accepting such obligations, You may act only 170 | on Your own behalf and on Your sole responsibility, not on behalf 171 | of any other Contributor, and only if You agree to indemnify, 172 | defend, and hold each Contributor harmless for any liability 173 | incurred by, or claims asserted against, such Contributor by reason 174 | of your accepting any such warranty or additional liability. 175 | 176 | END OF TERMS AND CONDITIONS 177 | 178 | APPENDIX: How to apply the Apache License to your work. 179 | 180 | To apply the Apache License to your work, attach the following 181 | boilerplate notice, with the fields enclosed by brackets "{}" 182 | replaced with your own identifying information. (Don't include 183 | the brackets!) The text should be enclosed in the appropriate 184 | comment syntax for the file format. We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright (c) 2018, Ian McMahon 190 | Copyright (c) 2018, James Bruton, XRobots 191 | 192 | Licensed under the Apache License, Version 2.0 (the "License"); 193 | you may not use this file except in compliance with the License. 194 | You may obtain a copy of the License at 195 | 196 | http://www.apache.org/licenses/LICENSE-2.0 197 | 198 | Unless required by applicable law or agreed to in writing, software 199 | distributed under the License is distributed on an "AS IS" BASIS, 200 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 201 | See the License for the specific language governing permissions and 202 | limitations under the License. 203 | -------------------------------------------------------------------------------- /opendog_description/meshes/lower_leg.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Blender User 6 | Blender 2.78.0 7 | 8 | 2018-06-01T20:10:06 9 | 2018-06-01T20:10:06 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 0 0 0 1 21 | 22 | 23 | 0 0 0 1 24 | 25 | 26 | 0.8 0.8 0.8 1 27 | 28 | 29 | 0.5 0.5 0.5 1 30 | 31 | 32 | 0 33 | 34 | 35 | 1 1 1 1 36 | 37 | 38 | 1 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 0.04356098 0.01499998 -0.06353169 0.04356098 0.03499996 -0.06353169 0.04295831 0.01499998 -0.06353169 0.04295831 0.03499996 -0.06353169 0.04237312 0.01499998 -0.06338739 0.04237312 0.03499996 -0.06338739 0.04183948 0.01499998 -0.06310743 0.04075962 0.03499996 -0.06104993 0.04083228 0.03499996 -0.06045162 0.04075962 0.01499998 -0.06104993 0.04083228 0.01499998 -0.06045162 0.04104602 0.01499998 -0.05988812 0.04183948 0.03499996 -0.06310743 0.04138839 0.01499998 -0.06270772 0.04104602 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 80 |

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81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 1 0 0 0.035 0 -1 0 0 0 0 1 -0.16 0 0 0 1 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | --------------------------------------------------------------------------------