unitree_ros/robots/b1_description/meshes/trunkb.dae

124 lines
23 MiB
Plaintext
Raw Normal View History

<?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 4.1.0 commit date:2024-03-25, commit time:20:42, hash:40a5e739e270</authoring_tool>
</contributor>
<created>2024-03-26T23:57:09</created>
<modified>2024-03-26T23:57:09</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</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">2097153</mode>
<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>
<spotsize sid="spotsize" type="float">75</spotsize>
<spotblend sid="spotblend" type="float">0.15</spotblend>
<clipsta sid="clipsta" type="float">0.04999995</clipsta>
<clipend sid="clipend" type="float">30.002</clipend>
<bias sid="bias" type="float">1</bias>
<radius sid="radius" type="float">0.1</radius>
<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_images/>
<library_geometries>
<geometry id="shape0_005-mesh" name="shape0.005">
<mesh>
<source id="shape0_005-mesh-positions">
<float_array id="shape0_005-mesh-positions-array" count="375543">0.06334948 0.1494719 0.0241369 0.0633682 0.149438 0.02413296 0.06366688 0.149608 0.02356588 0.06634229 0.149274 0.02477806 0.06549 0.149781 0.0231412 0.06607037 0.1497139 0.02352309 0.06482595 0.14982 0.02299278 0.06363159 0.149669 0.02355206 0.06332457 0.149502 0.02413809 0.06551617 0.149826 0.02309656 0.06482595 0.149866 0.02294266 0.0641368 0.149826 0.02309685 0.06447875 0.149882 0.02291995 0.0637142 0.149784 0.02330058 0.06358325 0.1497139 0.02352297 0.0658037 0.149592 0.02339696 0.06596946 0.149542 0.02356326 0.06597578 0.1495749 0.02356648 0.06622618 0.1494089 0.02399498 0.0662682 0.14937 0.02411985 0.06482607 0.14976 0.02302479 0.06546366 0.149688 0.02317416 0.06598675 0.149607 0.02356594 0.06632417 0.149239 0.02476519 0.06338018 0.149404 0.02412676 0.06332689 0.149235 0.02453529 0.06334239 0.1493059 0.02431988 0.06338566 0.14937 0.02411895 0.06361109 0.149514 0.02365636 0.06367778 0.1495749 0.02356648 0.06418925 0.149688 0.0231744 0.06333905 0.149202 0.02475285 0.06419348 0.149657 0.02317529 0.06482678 0.149697 0.02303498 0.0663293 0.149501 0.0241391 0.06630426 0.149471 0.02413785 0.06602209 0.149669 0.02355217 0.06639236 0.149545 0.0241332 0.06638765 0.149619 0.02391469 0.0632615 0.149545 0.02413219 0.06416296 0.149781 0.0231415 0.06418275 0.14972 0.02316856 0.06547015 0.149721 0.02316838 0.06627368 0.149404 0.02412778 0.06628561 0.149438 0.02413398 0.06632679 0.149235 0.02453577 0.06631249 0.149166 0.02474194 0.06612598 0.148981 0.02528464 0.06557798 0.148788 0.02583348 0.0653634 0.148751 0.02593576 0.06407576 0.148788 0.02583324 0.06383609 0.14889 0.02566695 0.06350541 0.149034 0.02525317 0.06349915 0.149072 0.02526837 0.06332939 0.149239 0.02476519 0.06348448 0.14911 0.02528768 0.0634613 0.149142 0.02530986 0.06331127 0.149274 0.02477806 0.06328517 0.149305 0.024791 0.0632162 0.149347 0.02481305 0.06339681 0.149182 0.02535665 0.06375515 0.149042 0.02580595 0.06383335 0.148931 0.02568298 0.06350398 0.1489959 0.02524238 0.064296 0.148792 0.0259428 0.06382328 0.14897 0.02570658 0.06380599 0.149004 0.02573657 0.06429541 0.148835 0.02595818 0.06429046 0.148876 0.02598398 0.06428116 0.14891 0.02601915 0.06482869 0.148914 0.02621006 0.06425297 0.148947 0.02610516 0.06471598 0.148907 0.0262922 0.06482678 0.148715 0.02603495 0.06482845 0.148757 0.0260396 0.06536126 0.148836 0.02595704 0.0653662 0.148876 0.02598285 0.06482845 0.148801 0.02605456 0.06482845 0.148843 0.02608096 0.0653755 0.1489109 0.02601808 0.06482857 0.148877 0.02611798 0.06540387 0.148948 0.02610385 0.0648666 0.1489059 0.02629536 0.0656706 0.148977 0.02607119 0.0659005 0.149043 0.0258041 0.06584966 0.149004 0.02573478 0.0653606 0.148793 0.02594155 0.0658195 0.148891 0.02566516 0.06582289 0.148851 0.02565658 0.06615537 0.149073 0.02526658 0.0658223 0.148932 0.02568119 0.06583225 0.148971 0.0257048 0.06631445 0.149202 0.02475285 0.06615048 0.1489959 0.02524048 0.06614917 0.149034 0.02525138 0.0663684 0.149305 0.024791 0.06617009 0.14911 0.02528578 0.06643736 0.149347 0.02481305 0.06619328 0.149143 0.02530795 0.06625777 0.149183 0.02535468 0.05036836 0.149305 0.024791 0.05032926 0.149501 0.0241391 0.05043739 0.149347 0.02481305 0.05002206 0.149669 0.02355217 0.0500704 0.1497139 0.02352309 0.04882597 0.149866 0.02294266 0.0495162 0.149826 0.02309656 0.04989135 0.1497949 0.02326035 0.04847878 0.149882 0.02291995 0.04813677 0.149826 0.02309685 0.04771417 0.149784 0.02330058 0.04758328 0.1497139 0.02352297 0.04726147 0.149545 0.02413219 0.04997575 0.1495749 0.02356648 0.04946368 0.149688 0.02317416 0.05027365 0.149404 0.02412778 0.0503242 0.149239 0.02476519 0.04733908 0.149202 0.02475285 0.04732686 0.149235 0.02453529 0.04734236 0.1493059 0.02431988 0.04738569 0.14937 0.02411895 0.04761105 0.149514 0.02365636 0.04807597 0.149639 0.02323657 0.04818278 0.14972 0.02316856 0.04767775 0.1495749 0.02356648 0.04766684 0.149608 0.02356588 0.04738014 0.149404 0.02412676 0.04736816 0.149438 0.02413296 0.04818928 0.149688 0.0231744 0.04945957 0.149657 0.023175 0.04957807 0.149639 0.02323687 0.
<technique_common>
<accessor source="#shape0_005-mesh-positions-array" count="125181" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="shape0_005-mesh-normals">
<float_array id="shape0_005-mesh-normals-array" count="1086036">0.7704737 0.3729639 0.5169798 0.7704746 0.3729621 0.51698 0.7704743 0.372962 0.5169804 -0.7914335 0.5707132 0.2189057 -0.7914336 0.5707129 0.2189056 -0.7914337 0.5707128 0.2189057 -0.5621049 0.7821466 0.2688583 -0.313798 0.7314609 0.6053891 -0.3137978 0.731461 0.6053889 -0.3137978 0.7314613 0.6053887 -0.30024 0.7509264 0.5881883 -0.3002399 0.7509262 0.5881887 -0.3002398 0.7509264 0.5881884 -0.1082598 0.7277931 0.6771979 -0.1082597 0.7277928 0.6771983 -0.1082594 0.7277929 0.6771982 -0.1071453 0.7351759 0.6693552 -0.1071455 0.7351759 0.6693552 -0.1071457 0.7351762 0.6693548 0.106427 0.7352548 0.6693831 0.1064267 0.7352551 0.6693828 0.1064271 0.7352548 0.6693831 0.1095235 0.7281082 0.6766558 0.1095233 0.728108 0.676656 0.1095231 0.7281081 0.6766561 0.2975285 0.7509906 0.5894829 0.297529 0.7509902 0.589483 0.297528 0.7509908 0.5894828 0.3157291 0.7323837 0.6032655 0.315729 0.7323836 0.6032657 0.3157292 0.7323837 0.6032656 0.4440813 0.7729824 0.4530894 0.4440813 0.7729824 0.4530895 0.4440814 0.7729824 0.4530894 0.4767561 0.74978 0.4588394 0.4767553 0.7497803 0.4588398 0.4767563 0.7497799 0.4588395 -0.06779628 0.939468 0.3358626 -0.0677964 0.939468 0.3358628 -0.0677964 0.9394679 0.3358628 -0.2404763 0.6892926 0.6834083 -0.2404741 0.6892951 0.6834065 -0.2404606 0.6893238 0.6833823 -0.02184331 0.9403777 0.3394302 -0.02184313 0.9403776 0.3394302 -0.02184313 0.9403777 0.3394303 8.72305e-5 0.8131215 0.582094 8.72758e-5 0.8131216 0.5820938 8.54858e-5 0.8131216 0.5820939 0.02185565 0.9403612 0.3394749 0.02185571 0.9403612 0.3394748 0.02185577 0.9403613 0.3394748 0.3517053 0.4483141 0.8217772 0.3517057 0.4483132 0.8217776 0.3517053 0.448315 0.8217768 0.07030159 0.9382418 0.3387628 0.07030153 0.9382417 0.3387629 0.07030183 0.9382416 0.3387629 0.3543671 0.8109475 0.4656051 0.3543637 0.8109502 0.4656032 0.3543695 0.8109448 0.4656081 0.1263013 0.9371027 0.3254022 0.1263015 0.9371026 0.3254024 0.1263018 0.9371024 0.3254026 0.2780394 0.9144768 0.2939836 0.2780394 0.914476 0.2939861 0.2780383 0.9144765 0.2939856 -0.4936766 -0.759323 0.4239247 -0.4936761 -0.7593232 0.4239247 -0.4936763 -0.7593232 0.4239246 -0.5723727 -0.4789081 0.6656098 -0.5723734 -0.4789035 0.6656126 -0.5723738 -0.4789052 0.6656112 -0.6968336 0.06549471 0.7142363 -0.6968334 0.06549429 0.7142364 -0.6968336 0.06549388 0.7142363 -0.799522 0.09761983 0.592651 -0.7995221 0.09761953 0.5926508 -0.7995218 0.09761989 0.5926512 -0.6909464 -0.7068505 0.1515104 -0.6909471 -0.7068498 0.1515109 -0.6909483 -0.7068486 0.151511 -0.8716845 -0.3917214 0.2944835 -0.8716844 -0.391723 0.2944818 -0.8716828 -0.3917261 0.2944824 -0.9382031 0.0731306 0.3382704 -0.9382031 0.07313048 0.3382704 -0.9382031 0.0731306 0.3382704 -0.9774264 0.1172695 0.1757429 -0.9774264 0.1172695 0.1757429 -0.9774264 0.1172695 0.175743 -0.2000023 0.2132474 0.9563078 -0.1999834 0.2132433 0.9563127 -0.2000023 0.2132468 0.956308 -0.5516583 0.2552055 0.7940675 -0.551658 0.2552063 0.7940675 -0.5516573 0.2552072 0.7940678 -0.5692325 0.2021588 0.7969355 -0.5692322 0.2021582 0.7969359 -0.5692321 0.2021584 0.7969359 -0.8110272 0.2776732 0.5149101 -0.811028 0.2776721 0.5149096 -0.811028 0.277672 0.5149099 -0.9684268 0.2145823 0.1269014 -0.9684267 0.2145829 0.1269017 -0.9684267 0.2145829 0.1269017 -0.8637324 0.463056 0.1988606 -0.8637324 0.463056 0.1988606 -0.8637321 0.4630565 0.1988608 -0.7774319 0.3785997 0.5022569 -0.7774316 0.3786002 0.5022571 -0.7774316 0.3786001 0.5022571 0.6918586 -0.7057082 0.1526686 0.6918579 -0.7057092 0.1526672 0.6918597 -0.7057068 0.1526701 0.9964941 0.07042813 -0.04516106 0.9964941 0.07042813 -0.045161 0.9964941 0.07042813 -0.04516112 0.8001694 -0.5847014 -0.1336163 0.8001694 -0.5847014 -0.133616 0.8001695 -0.5847012 -0.1336165 0.8131937 -0.5674278 -0.1293902 0.8131937 -0.5674278 -0.1293899 0.8131939 -0.5674273 -0.1293902 0.9654533 0.1010971 0.2401655 0.9128406 0.05363309 0.4047786 0.9128405 0.05363315 0.4047785 0.9128406 0.05363345 0.4047787 0.8484519 -0.2176361 0.4824562 0.8484518 -0.2176361 0.4824563 0.8484518 -0.2176361 0.4824
<technique_common>
<accessor source="#shape0_005-mesh-normals-array" count="362012" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="shape0_005-mesh-vertices">
<input semantic="POSITION" source="#shape0_005-mesh-positions"/>
</vertices>
<triangles count="250639">
<input semantic="VERTEX" source="#shape0_005-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#shape0_005-mesh-normals" offset="1"/>
<p>0 0 1 1 2 2 3 3 95 4 34 5 34 6 95 6 97 6 36 7 5 8 4 9 4 10 5 11 9 12 4 13 9 14 6 15 6 16 9 17 10 18 6 19 10 20 40 21 40 22 10 23 11 24 40 25 11 26 7 27 7 28 11 29 14 30 7 31 14 32 8 33 8 34 14 35 39 36 5 37 2256 38 9 39 9 40 2256 41 2254 42 9 43 2254 44 10 45 10 46 2254 47 12 48 10 49 12 50 11 51 11 52 12 53 13 54 11 55 13 56 14 57 14 58 13 59 2249 60 14 61 2249 62 39 63 39 64 2249 65 2250 66 17 67 21 68 15 69 15 70 21 71 2446 72 15 73 16 74 17 75 17 76 16 77 2464 78 17 79 2464 80 43 81 2464 82 18 83 43 84 43 85 18 86 19 87 43 88 19 89 45 90 20 91 21 92 42 93 42 94 21 95 17 96 42 97 17 98 22 99 22 100 17 101 43 102 92 103 23 104 44 105 44 106 23 107 35 108 44 109 35 110 36 111 2456 112 29 113 24 114 2453 115 25 116 31 117 31 118 25 119 26 120 31 121 26 122 24 123 24 124 26 124 27 124 24 125 27 126 2456 127 2456 128 28 129 29 130 29 131 28 132 2459 133 29 134 2459 135 30 136 30 137 2459 138 2458 139 54 140 1 141 57 142 57 143 1 144 0 145 57 146 0 147 58 148 20 149 41 150 30 151 30 152 41 153 2 154 30 155 2 156 29 157 29 158 2 159 1 160 29 161 1 162 24 163 24 164 1 165 54 166 24 167 54 168 31 169 2458 170 32 171 30 172 30 173 32 174 33 175 30 176 33 177 20 178 20 179 33 179 2462 179 20 180 2462 181 21 182 21 183 2462 183 2461 183 21 184 2461 184 2446 184 2258 185 38 186 37 187 2158 188 2258 189 97 190 97 191 2258 192 37 193 97 194 37 195 34 196 23 197 3 198 35 199 35 200 3 201 34 202 35 203 34 204 36 205 36 206 34 207 37 208 36 209 37 210 5 211 5 212 37 213 38 214 5 215 38 216 2256 217 2250 218 59 219 39 220 39 221 59 221 58 221 39 222 58 223 8 224 8 225 58 226 0 227 8 228 0 229 7 229 7 230 0 231 2 232 7 233 2 234 40 235 40 236 2 237 41 238 40 239 41 240 6 241 6 242 41 243 20 244 6 245 20 246 4 247 4 248 20 249 42 250 4 251 42 252 36 253 36 254 42 255 22 256 36 257 22 258 44 259 44 260 22 261 43 262 44 263 43 264 92 265 92 266 43 267 45 268 92 269 45 270 46 271 47 272 88 273 87 274 48 275 49 276 86 277 73 278 2452 279 64 280 50 281 2450 282 51 283 63 284 2453 285 52 286 52 287 2453 288 31 289 52 290 31 291 53 292 53 293 31 294 54 295 53 296 54 297 55 298 55 299 54 300 57 301 55 302 57 303 56 304 56 305 57 306 58 307 56 308 58 309 60 310 60 311 58 311 59 311 60 312 59 313 2250 314 2250 315 2162 316 60 317 60 318 2162 319 61 320 60 321 61 322 56 323 56 324 61 325 66 326 56 327 66 328 55 329 55 330 66 331 65 332 55 333 65 334 53 335 53 336 65 337 62 338 53 339 62 340 52 341 52 342 62 343 51 344 51 345 2450 346 52 347 52 348 2450 349 2454 350 52 351 2454 352 63 353 2452 354 50 355 64 356 64 357 50 358 51 359 64 360 51 361 67 362 67 363 51 364 62 365 67 366 62 367 68 368 68 369 62 370 65 371 68 372 65 373 69 374 69 375 65 376 66 377 69 378 66 379 71 380 71 381 66 382 61 383 71 384 61 385 2161 386 2161 387 61 388 2162 389 74 390 73 391 64 392 74 393 64 394 77 395 77 396 64 397 67 398 77 399 67 400 78 401 78 402 67 403 68 404 78 405 68 406 80 407 80 408 68 409 69 410 80 411 69 412 70 413 70 414 69 415 71 416 70 417 71 418 72 419 72 420 71 421 2161 422 49 423 73 424 86 425 86 426 73 427 74 428 86 429 74 430 75 431 75 432 74 433 77 434 75 435 77 436 76 437 76 438 77 439 78 440 76 441 78 442 79 443 79 444 78 445 80 446 79 447 80 448 81 449 81 450 80 451 70 452 81 453 70 454 82 455 82 456 70 457 72 458 82 459 83 460 81 461 81 462 83 463 84 464 81 465 84 466 79 467 79 468 84 469 85 470 79 471 85 472 76 473 76 474 85 475 91 476 76 477 91 478 75 479 75 480 91 481 90 482 75 483 90 484 86 485 86 486 90 487 87 488 86 489 87 490 48 489 48 491 87 492 88 493 93 494 47 495 94 496 94 497 47 498 87 499 94 500 87 501 89 502 89 503 87 504 90 505 89 506 90 507 96 508 96 509 90 510 91 511 96 512 91 513 98 514 98 515 91 516 85 517 98 518 85 519 99 520 99 521 85 522 84 523 99 524 84 525 2159 526 2159 527 84 528 83 529 46 530 93 531 92 532 92 533 93 534 94 535 92 536 94 537 23 538 23 539 94 539 89 539 23 540 89 541 3 542 3 543 89 544 96 545 3 546 96 547 95 548 95 549 96 550 98 551 95 552 98 553 97 554 97 555 98 556 99 557 97 558 99 559 2158 560 2158 561 99 562 2159 563 138 564 127 565 125 566 134 567 100 568 101 569 101 570 100 570 102 57
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="node" name="node" 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="#shape0_005-mesh" name="node"/>
</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>