quadruped_ros2_control/descriptions/quadruped_gazebo/meshes/aliengo/thigh.dae

163 lines
724 KiB
Plaintext
Raw Normal View History

2024-09-09 22:18:19 +08:00
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e</authoring_tool>
</contributor>
<created>2019-10-12T12:08:00</created>
<modified>2019-10-12T12:08:00</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
<optics>
<technique_common>
<perspective>
<xfov sid="xfov">39.59775</xfov>
<aspect_ratio>1.777778</aspect_ratio>
<znear sid="znear">0.1</znear>
<zfar sid="zfar">100</zfar>
</perspective>
</technique_common>
</optics>
<extra>
<technique profile="blender">
<shiftx sid="shiftx" type="float">0</shiftx>
<shifty sid="shifty" type="float">0</shifty>
<dof_distance sid="dof_distance" type="float">10</dof_distance>
</technique>
</extra>
</camera>
</library_cameras>
<library_lights>
<light id="Light-light" name="Light">
<technique_common>
<point>
<color sid="color">1000 1000 1000</color>
<constant_attenuation>1</constant_attenuation>
<linear_attenuation>0</linear_attenuation>
<quadratic_attenuation>0.00111109</quadratic_attenuation>
</point>
</technique_common>
<extra>
<technique profile="blender">
<type sid="type" type="int">0</type>
<flag sid="flag" type="int">0</flag>
<mode sid="mode" type="int">1</mode>
<gamma sid="blender_gamma" type="float">1</gamma>
<red sid="red" type="float">1</red>
<green sid="green" type="float">1</green>
<blue sid="blue" type="float">1</blue>
<shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
<shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
<shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
<energy sid="blender_energy" type="float">1000</energy>
<dist sid="blender_dist" type="float">29.99998</dist>
<spotsize sid="spotsize" type="float">75</spotsize>
<spotblend sid="spotblend" type="float">0.15</spotblend>
<att1 sid="att1" type="float">0</att1>
<att2 sid="att2" type="float">1</att2>
<falloff_type sid="falloff_type" type="int">2</falloff_type>
<clipsta sid="clipsta" type="float">0.04999995</clipsta>
<clipend sid="clipend" type="float">30.002</clipend>
<bias sid="bias" type="float">1</bias>
<soft sid="soft" type="float">3</soft>
<bufsize sid="bufsize" type="int">2880</bufsize>
<samp sid="samp" type="int">3</samp>
<buffers sid="buffers" type="int">1</buffers>
<area_shape sid="area_shape" type="int">1</area_shape>
<area_size sid="area_size" type="float">0.1</area_size>
<area_sizey sid="area_sizey" type="float">0.1</area_sizey>
<area_sizez sid="area_sizez" type="float">1</area_sizez>
</technique>
</extra>
</light>
</library_lights>
<library_effects>
<effect id="材质_001-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0.4 0.4 0.4 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images/>
<library_materials>
<material id="材质_001-material" name="材质.001">
<instance_effect url="#材质_001-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Thigh-mesh" name="Thigh">
<mesh>
<source id="Thigh-mesh-positions">
<float_array id="Thigh-mesh-positions-array" count="14274">0.003068864 0.01219999 -0.2224332 0.002658307 0.01214671 -0.2212388 0.003068864 0.01039999 -0.2224332 0.002290308 0.01197141 -0.2200837 0.001535713 0.01161193 -0.2177147 0.001441419 0.01156699 -0.2174189 2.07992e-4 0.01053732 -0.212934 4.34649e-5 0.01039999 -0.2123358 -0.001420617 -0.008760452 -0.2056662 -0.001269102 -0.008880794 -0.2064586 -0.001352846 0.008794903 -0.2060278 -0.001545667 0.001068234 -0.205 -0.001545667 -0.008700311 -0.205 -0.001480937 -0.008712589 -0.2053509 -0.001545667 0.008700311 -0.205 -0.001545667 0.004859626 -0.205 -0.001420497 0.008761703 -0.2056671 -4.02176e-5 0.01031708 -0.212 -8.39963e-4 0.009468972 -0.2085441 -4.02176e-5 -0.01031708 -0.212 -9.30781e-4 0.009349644 -0.2080985 -8.46969e-4 -0.009459495 -0.2085116 -9.31556e-4 -0.009343564 -0.2081003 0.004099369 0.01239275 -0.2253787 0.005104422 0.01258081 -0.2282515 0.01132678 0.01039999 -0.2460373 0.005133211 0.01259285 -0.2283339 0.0092628 0.01428651 -0.2401376 0.0102967 0.01449364 -0.2430929 0.01132678 0.01469999 -0.2460373 0.009107947 0.01425552 -0.239695 0.007197499 0.01345634 -0.2342344 0.01109868 0.01469999 -0.2544591 0.01111996 0.01469999 -0.2544089 0.01115483 0.01039999 -0.2544237 0.005932748 0.01469999 -0.2603843 0.00599265 0.01469999 -0.2603509 0.006011843 0.01039999 -0.2603854 -0.005999982 0.01039999 -0.2603923 -0.005999982 0.01469999 -0.2603923 -0.005515575 0.01469999 -0.260646 0.01149559 0.01039999 -0.2465575 -0.005520224 0.01039999 -0.2606549 -0.005342423 0.01469999 -0.2607366 -0.005127489 0.01469999 -0.2608492 -0.004660606 0.01469999 -0.2610243 -0.003962993 0.01469999 -0.261286 -0.003670871 0.01039999 -0.2614247 -0.003661274 0.01469999 -0.2613992 -0.003271698 0.01469999 -0.2615453 -0.001719236 0.01039999 -0.2618762 -0.002533137 0.01469999 -0.2616897 -0.001799404 0.01469999 -0.2618331 -0.00171405 0.01469999 -0.2618498 -0.001318693 0.01469999 -0.2619271 -0.001066923 0.01469999 -0.2619342 -3.24366e-4 0.01469999 -0.2619552 2.80323e-4 0.01039999 -0.2619967 2.81014e-4 0.01469999 -0.2619722 6.46895e-4 0.01469999 -0.2619825 0.001008272 0.01469999 -0.2619557 0.001128733 0.01469999 -0.2619468 0.001741707 0.01469999 -0.2618371 0.002272069 0.01039999 -0.261783 0.002264976 0.01469999 -0.2617435 0.002474486 0.01469999 -0.261706 0.003080904 0.01469999 -0.2615975 0.004186987 0.01469999 -0.261203 0.004200458 0.01039999 -0.2612408 0.003902554 0.01469999 -0.2613044 0.003201246 0.01469999 -0.2615545 0.004606664 0.01469999 -0.2610533 0.004955828 0.01469999 -0.2609288 0.005283713 0.01469999 -0.260746 0.00763148 0.01469999 -0.2592102 0.007655739 0.01039999 -0.2592406 0.006686747 0.01469999 -0.2599641 0.006581366 0.01469999 -0.2600228 0.008231222 0.01469999 -0.2587317 0.008712291 0.01469999 -0.2581966 0.009086251 0.01039999 -0.2578384 0.009057521 0.01469999 -0.2578126 0.009210467 0.01469999 -0.2576424 0.009555935 0.01469999 -0.2572581 0.01023089 0.01469999 -0.2561969 0.01026356 0.01039999 -0.2562177 0.01007878 0.01469999 -0.2564361 0.009677708 0.01469999 -0.2570667 0.01047986 0.01469999 -0.2558054 0.01062452 0.01469999 -0.255578 0.0108087 0.01469999 -0.2551434 0.01139801 0.01469999 -0.2537527 0.01152896 0.01469999 -0.2532067 0.01173532 0.01039999 -0.2525064 0.01169902 0.01469999 -0.2524977 0.01198875 0.01039999 -0.2505193 0.01170259 0.01469999 -0.2524829 0.01185977 0.01469999 -0.2518274 0.01191681 0.01469999 -0.2510159 0.01195192 0.01469999 -0.2505167 0.01196908 0.01469999 -0.2502726 0.01199901 0.01469999 -0.2498477 0.01196843 0.01469999 -0.249529 0.01189702 0.01469999 -0.2487849 0.01190805 0.01039999 -0.2485178 0.01187175 0.01469999 -0.2485212 0.01182609 0.01469999 -0.2480456 0.01180934 0.01469999 -0.2478709 0.01166522 0.01469999 -0.2473232 0.01146578 0.01469999 -0.2465654 -0.01012235 0.0144149 -0.2580122 -0.01133257 0.01433122 -0.2573135 -0.02249997 0.01319998 -0.250866 -0.01958256 0.01332408 -0.2525504 -0.02249997 0.01039999 -0.250866 -0.01837831 0.01347106 -0.2532457 -0.01425224 0.01397478 -0.2556278 -0.03125631 0.01237541 -0.2435871 -0.03050011 0.0125302 -0.2445172 -0.03050631 0.01
<technique_common>
<accessor source="#Thigh-mesh-positions-array" count="4758" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Thigh-mesh-normals">
<float_array id="Thigh-mesh-normals-array" count="28191">0.9456837 0 0.3250883 0.9520668 0.01486569 0.3055291 0.9520635 0.01486587 0.3055391 0.9520765 0.01483821 0.3054999 0.9529223 0.1020683 0.2855193 0.9529231 0.1020623 0.2855189 0.9822092 7.40614e-5 0.1877903 0.9833887 0 0.1815121 0.9828445 0 0.1844359 0.9828471 0 0.1844227 0.9828463 -1.62405e-7 0.1844266 0.9829616 -8.53604e-5 0.1838109 0.9822053 7.42109e-5 0.1878106 0.9742529 0 0.2254576 0.9796056 0.004512071 0.2008799 0.9742517 -6.09787e-4 0.2254626 0.9798547 -1.93001e-5 0.1997115 0.9794882 -2.72907e-4 0.2015015 0.9794887 -2.72904e-4 0.2014989 0.943902 0 0.330226 0.9439026 -6.64062e-7 0.3302239 0.9439017 -5.33667e-7 0.3302267 0.9438888 0 0.3302635 0.943902 5.40445e-7 0.3302256 0.9439018 0 0.3302261 0.9439018 -1.44319e-5 0.3302264 0.9439021 0 0.3302256 0.943902 0 0.3302257 0.9205935 0.008814096 -0.3904231 0.4866152 0.009189724 -0.8735682 -0.4639087 0 -0.8858832 0.951177 0 0.3086462 -0.4801602 0.002339601 -0.8771778 -0.4636198 0.002340197 -0.8860312 -0.4637894 0.002348124 -0.8859425 -0.3511536 -0.01022869 -0.936262 -0.3512609 -0.01022064 -0.9362219 -0.3842884 0.003678917 -0.9232058 -0.3511924 0.006351292 -0.9362819 -0.3513224 0.006351113 -0.9362331 -0.2253731 -0.006397306 -0.9742516 -0.1918309 0.006259918 -0.9814081 -0.1918401 0.006251335 -0.9814063 -0.1918154 0.00625652 -0.9814111 -0.1919263 0.006256699 -0.9813895 -0.02816128 -0.009209513 -0.999561 -0.02820676 -0.009203135 -0.9995598 -0.06016916 0.001190245 -0.9981876 -0.02816271 0.005706191 -0.9995871 -0.02810651 0.005706191 -0.9995887 0.07395803 -0.003019452 -0.9972568 0.07351708 -0.002978563 -0.9972895 0.1761261 -0.0233184 -0.9840914 0.1067153 6.3412e-4 -0.9942895 0.1761969 0.00932151 -0.9843108 0.1760476 0.009321808 -0.9843375 0.1761389 0.009321987 -0.9843212 0.3357995 0.009337604 -0.9418872 0.2706494 0.004507482 -0.9626674 0.3358377 -0.02257043 -0.9416494 0.3358457 -0.02252537 -0.9416477 0.3357873 0.009337604 -0.9418916 0.3360243 0.00933659 -0.9418071 0.4270013 -0.009394526 -0.9042023 0.4868226 0.009186625 -0.8734527 0.4868438 0.009187102 -0.8734408 0.6236746 0.009040534 -0.781632 0.5714501 -0.009273707 -0.8205845 0.4865624 0.009184062 -0.8735976 0.4868271 0.009188055 -0.8734502 0.6236382 0.009040832 -0.7816608 0.7435389 -0.02040547 -0.6683814 0.7000266 0.001381516 -0.7141155 0.7436428 0.008977472 -0.668517 0.7437667 0.008975744 -0.6683791 0.7436656 0.008978962 -0.6684915 0.8436658 0.00899899 -0.5367935 0.8090664 0.004912137 -0.5876969 0.84363 -0.01974594 -0.5365619 0.8435186 -0.01974195 -0.5367372 0.8437753 0.008995831 -0.5366212 0.8437843 0.009000718 -0.5366072 0.8955246 -0.008997023 -0.4449211 0.9206986 0.008813083 -0.3901749 0.9207127 0.008811593 -0.3901417 0.9206922 0.008811116 -0.39019 0.9722606 -0.01859813 -0.23316 0.957096 -0.001264512 -0.2897685 0.9723866 0.008677542 -0.2332144 0.9919282 0.008626759 -0.1265075 0.9716013 -0.04166537 -0.2329272 0.9715763 -0.04174643 -0.2330167 0.9974998 0.008575379 -0.07014691 0.9974998 0.008577287 -0.07014667 0.9974994 0.008577764 -0.07015413 0.9974995 0.008576869 -0.07015162 0.9952794 -0.01728999 0.0954988 0.99528 -0.01729112 0.0954926 0.9991763 0.005070209 0.04026174 0.9953929 0.008493065 0.09550356 0.9953935 0.008492708 0.09549731 0.9953929 0.008492171 0.0955038 0.9669487 -0.01607084 0.2544645 0.9785681 -0.001929044 0.2059147 0.9670472 0.007173955 0.2544966 0.9670543 0.007173955 0.2544695 -0.4999945 0 -0.8660287 -0.5000146 -7.87024e-6 -0.8660171 -0.5000025 0 -0.866024 -0.4999721 1.6301e-5 -0.8660416 -0.5000008 1.24349e-6 -0.866025 -0.5000044 6.6655e-6 -0.8660229 -0.4999954 -5.18091e-6 -0.8660281 -0.7761824 0.003778517 -0.6304972 -0.5615867 0.01439619 -0.8272927 -0.5617794 0.01439362 -0.8271619 -0.5541726 0.01439535 -0.8322774 -0.5612882 -2.38571e-6 -0.8276205 -0.5612967 0 -0.8276147 -0.7760924 0.003780186 -0.6306079 -0.6745605 -0.003765285 -0.73821 -0.6697411 -0.006903827 -0.7425626 -0.6734775 -0.01769769 -0.7389959 -0.6734646 -0.01769983 -0.7390075 -0.8637015 0.03236865 -0.5029633 -0.7823538 -0.03277021 -0.6219717 -0.7761871 0.003774285 -0.6304916 -0.77618
<technique_common>
<accessor source="#Thigh-mesh-normals-array" count="9397" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Thigh-mesh-vertices">
<input semantic="POSITION" source="#Thigh-mesh-positions"/>
</vertices>
<triangles material="材质_001-material" count="9512">
<input semantic="VERTEX" source="#Thigh-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Thigh-mesh-normals" offset="1"/>
<p>0 0 1 0 2 0 2 1 1 1 3 1 2 2 3 2 4 2 4 3 5 3 2 3 2 4 5 4 6 4 2 5 6 5 7 5 8 6 9 6 10 6 11 7 12 7 13 7 14 8 15 8 16 8 16 9 15 9 11 9 16 10 11 10 10 10 10 11 11 11 13 11 10 12 13 12 8 12 17 13 18 13 19 13 19 14 18 14 20 14 19 15 20 15 21 15 21 16 20 16 10 16 21 17 10 17 22 17 22 18 10 18 9 18 23 19 0 19 2 19 23 20 2 20 24 20 24 21 2 21 25 21 24 22 25 22 26 22 27 23 25 23 28 23 28 24 25 24 29 24 27 25 30 25 25 25 25 26 30 26 31 26 25 27 31 27 26 27 32 28 33 28 34 28 35 29 36 29 37 29 38 30 39 30 40 30 29 31 25 31 41 31 38 32 40 32 42 32 42 33 40 33 43 33 42 34 43 34 44 34 44 35 45 35 42 35 42 36 45 36 46 36 42 37 46 37 47 37 46 38 48 38 47 38 47 39 48 39 49 39 47 40 49 40 50 40 50 41 49 41 51 41 51 42 52 42 50 42 50 43 52 43 53 43 50 44 53 44 54 44 54 45 55 45 50 45 50 46 55 46 56 46 50 47 56 47 57 47 56 48 58 48 57 48 57 49 58 49 59 49 57 50 59 50 60 50 60 51 61 51 57 51 57 52 61 52 62 52 57 53 62 53 63 53 62 54 64 54 63 54 63 55 64 55 65 55 63 56 65 56 66 56 67 57 68 57 69 57 69 58 68 58 63 58 69 59 63 59 70 59 70 60 63 60 66 60 67 61 71 61 68 61 68 62 71 62 72 62 68 63 72 63 37 63 37 64 72 64 73 64 37 65 73 65 35 65 74 66 75 66 76 66 76 67 75 67 37 67 76 68 37 68 77 68 77 69 37 69 36 69 74 70 78 70 75 70 75 71 78 71 79 71 75 72 79 72 80 72 79 73 81 73 80 73 80 74 81 74 82 74 80 75 82 75 83 75 84 76 85 76 86 76 86 77 85 77 80 77 86 78 80 78 87 78 87 79 80 79 83 79 84 80 88 80 85 80 85 81 88 81 89 81 85 82 89 82 34 82 34 83 89 83 90 83 34 84 90 84 32 84 33 85 91 85 34 85 34 86 91 86 92 86 34 87 92 87 93 87 93 88 92 88 94 88 93 89 94 89 95 89 94 90 96 90 95 90 95 91 96 91 97 91 95 92 97 92 98 92 98 93 99 93 95 93 95 94 99 94 100 94 95 95 100 95 101 95 101 96 102 96 95 96 95 97 102 97 103 97 95 98 103 98 104 98 104 99 103 99 105 99 104 100 105 100 106 100 106 101 107 101 104 101 104 102 107 102 108 102 104 103 108 103 41 103 41 104 108 104 109 104 41 105 109 105 29 105 110 106 39 106 38 106 110 107 38 107 111 107 112 108 113 108 114 108 114 109 113 109 115 109 114 110 115 110 38 110 38 111 115 111 116 111 38 112 116 112 111 112 117 113 118 113 119 113 120 114 121 114 122 114 122 115 121 115 123 115 122 116 123 116 114 116 114 117 123 117 124 117 114 118 124 118 112 118 118 119 125 119 119 119 119 120 125 120 126 120 119 121 126 121 122 121 122 122 126 122 127 122 122 123 127 123 120 123 128 124 129 124 130 124 128 125 130 125 119 125 119 126 130 126 131 126 119 127 131 127 117 127 132 128 133 128 128 128 128 129 133 129 134 129 128 130 134 130 129 130 132 131 135 131 136 131 136 132 137 132 132 132 132 133 137 133 138 133 132 134 138 134 133 134 139 135 140 135 141 135 142 136 143 136 144 136 145 137 146 137 147 137 148 138 149 138 142 138 142 139 149 139 150 139 151 140 19 140 152 140 152 141 19 141 21 141 153 142 145 142 154 142 154 143 145 143 147 143 154 144 147 144 155 144 155 145 147 145 156 145 157 146 158 146 159 146 159 147 158 147 160 147 159 148 160 148 156 148 156 149 160 149 161 149 156 150 161 150 155 150 162 151 163 151 164 151 164 152 163 152 165 152 164 153 165 153 166 153 166 154 165 154 167 154 166 155 167 155 159 155 159 156 167 156 168 156 159 157 168 157 157 157 169 158 170 158 171 158 171 159 170 159 172 159 171 160 172 160 164 160 164 161 172 161 173 161 164 162 173 162 162 162 174 163 175 163 176 163 176 164 175 164 177 164 176 165 177 165 169 165 169 166 177 166 178 166 169 167 178 167 170 167 174 168 176 168 179 168 179 169 176 169 180 169 179 170 180 170 181 170 181 171 180 171 182 171 182 172 180 172 183 172 182 173 183 173 184 173 185 174 186 174 183 174 183 175 186 175 187 175 183 176 187 176 184 176 188 177 189 177 185 177 185 178 189 178 190 178 185 179 190 179 186 179 191 180 192 180 193 180 193 181 192 181 194 181 193 182 194 182 188 182 188 183 194 183 195 183 188 184 195 184 189 184 191 185 193 185 196 185 196 186 193 186 197 186 196 187 197 187 198 187 198 188 197 188 199 188 199 189 197 189 200 189 199 190 200 190 201 190 201 191 200 191 13 191 201 192 13 192 12 192 202 193 203 193 204 193 204 194 203 194 205 194 204 195 205 195 206 195 206 196 207 196 204 196 204 197 207 19
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Thigh" name="Thigh" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#Thigh-mesh" name="Thigh">
<bind_material>
<technique_common>
<instance_material symbol="材质_001-material" target="#材质_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="Camera" name="Camera" type="NODE">
<matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
<instance_camera url="#Camera-camera"/>
</node>
<node id="Light" name="Light" type="NODE">
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
<instance_light url="#Light-light"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>