unitree_ros/robots/go2w_description/dae/left_wheel.dae

132 lines
1.3 MiB
Plaintext
Raw Normal View History

2024-09-09 10:52:58 +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 2.82.7</authoring_tool>
</contributor>
<created>2024-05-17T20:23:55</created>
<modified>2024-05-17T20:23:55</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_images/>
<library_geometries>
<geometry id="FL_wheel-mesh" name="FL wheel">
<mesh>
<source id="FL_wheel-mesh-positions">
<float_array id="FL_wheel-mesh-positions-array" count="26991">0.05626457 0.07313454 0.01893466 0.05964922 0.07399952 0.02007371 0.0616948 0.07399952 0.01243937 0.01416075 0.07313454 0.05765163 0.01501262 0.07399952 0.06111973 0.02255457 0.07399952 0.05875617 -0.04613566 0.07313454 0.03736007 -0.04891097 0.07399952 0.03960752 -0.04356116 0.07399952 0.04542535 -0.05626511 0.07313454 -0.0189349 -0.05964976 0.07399952 -0.02007395 -0.06169533 0.07399952 -0.0124396 0.06313145 0.07395154 0.02124559 0.06529647 0.07395154 0.01316553 0.01588904 0.07395154 0.06468778 0.0238713 0.07395154 0.06218624 -0.05176627 0.07395154 0.0419197 -0.04610413 0.07395154 0.04807716 -0.06313198 0.07395154 -0.02124583 -0.06529694 0.07395154 -0.01316577 0.06649357 0.07299351 0.02237701 0.0687738 0.07299351 0.01386672 0.01673519 0.07299351 0.06813275 0.02514255 0.07299351 0.06549799 -0.05452305 0.07299357 0.04415214 -0.04855936 0.07299357 0.05063754 -0.06649404 0.07299357 -0.02237725 -0.06877434 0.07299357 -0.0138669 0.06710642 0.07118546 0.02962982 0.07023894 0.07118546 0.02115863 0.01236748 0.07118546 0.07230669 0.02115941 0.07118546 0.07023882 -0.06408625 0.07118546 0.03569608 -0.05921387 0.07118546 0.04330098 -0.06515556 0.07118546 -0.03370499 -0.06880366 0.07118546 -0.02544271 -0.04748892 0.07299357 -0.05164301 -0.04858016 0.07118546 -0.05496585 -0.05358701 0.07299357 -0.04528385 -0.05496656 0.07118546 -0.04857933 -0.05884003 0.07299357 -0.03821057 -0.06051981 0.07118546 -0.0414564 -0.06316512 0.07299357 -0.03053468 -0.0714088 0.07118546 -0.01679474 -0.06997001 0.07299357 -0.00513792 -0.0729314 0.07118546 -0.007892191 -0.07006222 0.07299357 0.003672122 -0.07334846 0.07118546 0.001129984 -0.06904947 0.07299357 0.01242423 -0.07265365 0.07118546 0.01013505 -0.06694781 0.07299357 0.02098041 -0.07085746 0.07118546 0.01898646 -0.06379038 0.07299357 0.02920573 -0.0679872 0.07118546 0.0275501 -0.05962687 0.07299357 0.03697049 -0.0534439 0.07118546 0.05024939 -0.04182988 0.07299357 0.0563243 -0.04686373 0.07118546 0.05643618 -0.04373711 0.07118546 0.05889236 -0.03444075 0.07299357 0.06112283 -0.03957319 0.07118546 0.06176739 -0.03601104 0.07118546 0.0639097 -0.02650845 0.07299357 0.06495738 -0.03168272 0.07118546 0.06616228 -0.02771705 0.07118546 0.06791907 -0.01815807 0.07299357 0.06776756 -0.02331197 0.07118546 0.0695542 -0.01898592 0.07118546 0.07085734 -0.01458787 0.07118546 0.07189172 -0.009521365 0.07299357 0.06950896 -0.009955465 0.07118546 0.07267814 -0.005642652 0.07118546 0.07313948 -7.34489e-4 0.07299351 0.07015419 0.008431613 0.07118546 0.07287061 0.008063912 0.07299351 0.06969302 0.003388047 0.07118546 0.07327854 -7.67965e-4 0.07118546 0.07335281 0.02963054 0.07118546 0.06710618 0.03315341 0.07299351 0.06183028 0.03765255 0.07118546 0.06295627 0.04064136 0.07299351 0.05718743 0.04510378 0.07118546 0.05785197 0.04748839 0.07299351 0.05164277 0.05187124 0.07118546 0.0518707 0.05358654 0.07299351 0.04528361 0.05785238 0.07118546 0.04510319 0.05883955 0.07299351 0.03821033 0.06295657 0.07118546 0.03765189 0.06316459 0.07299351 0.03053444 0.07230675 0.07118546 0.01236671 0.06996947 0.07299351 0.005137681 0.07327842 0.07118546 0.003387272 0.07006168 0.07299351 -0.003672301 0.0731393 0.07118546 -0.005643427 0.069049 0.07299351 -0.01242446 0.07189142 0.07118546 -0.01458865 0.06694734 0.07299351 -0.02098065 0.06955373 0.07118546 -0.02331274 0.06378984 0.07299351 -0.02920597 0.06616169 0.07118546 -0.03168344 0.0596264 0.07299351 -0.03697073 -0.04145729 0.07118546 -0.06051909 -0.0406419 0.07299357 -0.05718767 -0.033706 0.07118546 -0.06515502 -0.03315389 0.07299357 -0.06183052 -0.02544373 0.07118546 -0.06880319 -0.02514308 0.07299357 -0.06549823 -0.01679581 0.07118546 -0.07140845 -0.01673573 0.07299357 -0.06813299 -0.007893264 0.07118546 -0.07293117 -0.008064448 0.07299357 -0.06969326 0.001128911 0.07118546 -0.07334834 7.33976e-4 0.07299351 -0.07015442 0.01013398 0.07118546 -0.07265365 0.009520828 0.07299351 -0.0695092 0.01898545 0.07118546 -0.07085758 0.01815754 0.07299351 -0.06776779 0.02754908 0.07118546 -0.06798738 0.02650791 0.07299351 -0.0
<technique_common>
<accessor source="#FL_wheel-mesh-positions-array" count="8997" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="FL_wheel-mesh-normals">
<float_array id="FL_wheel-mesh-normals-array" count="52344">-0.2278091 0.9717907 -0.06104022 -0.07052826 0.9717897 -0.2250566 0.1736038 0.9717907 -0.1596391 0.2278114 0.9717903 0.06103932 0.01264214 0.9999144 0.003388881 0.003914535 0.9999144 0.01248919 -0.009634017 0.9999144 0.008859336 -0.01264411 0.9999144 -0.00338602 0.2522996 0.9652849 0.06760191 0.07811039 0.965285 0.2492465 -0.1922653 0.9652854 0.1767996 -0.2522977 0.9652855 -0.06760108 0.4736456 0.863124 0.1751486 0.1163857 0.8611615 0.4948286 -0.3872855 0.887942 0.2481309 -0.4343903 0.8800673 -0.1917985 -0.3647392 0.8629185 -0.349767 -0.3393185 0.8773409 -0.3393167 -0.4071841 0.8618344 -0.302395 -0.3771542 0.8782343 -0.2940397 -0.4435393 0.8607061 -0.2499163 -0.4956539 0.8583062 -0.1328071 -0.452996 0.881007 -0.1364604 -0.5104874 0.8570376 -0.06992411 -0.4645792 0.8819597 -0.0794574 -0.5174181 0.8557156 -0.005415916 -0.4690104 0.8829265 -0.02168023 -0.5162603 0.8543459 0.05973774 -0.4662778 0.8839066 0.03597635 -0.5069755 0.8529176 0.1245287 -0.4564759 0.8849008 0.09263068 -0.4896181 0.8514397 0.1879487 -0.4398214 0.8859035 0.1474177 -0.4643902 0.8499051 0.249004 -0.3917077 0.8466535 0.3601985 -0.352318 0.8889756 0.2925654 -0.3452298 0.8449357 0.4085342 -0.3123033 0.8900195 0.3321627 -0.3040651 0.8704791 0.3870538 -0.268399 0.8701376 0.4133071 -0.2639535 0.8855404 0.3822916 -0.2536823 0.8704712 0.421812 -0.214482 0.8701401 0.443682 -0.2139312 0.8861464 0.4110695 -0.1993758 0.8704631 0.4500482 -0.1571825 0.8701384 0.4670684 -0.1608577 0.8867464 0.4333655 -0.1419823 0.8704559 0.4713253 -0.1126969 0.870457 0.4791702 -0.0941556 0.8792417 0.4669785 -0.08239012 0.8704478 0.4853172 -0.05235409 0.8704641 0.4894397 -0.03488844 0.8792179 0.4751406 0.0396865 0.87043 0.4906901 0.02494227 0.8791642 0.475866 0.008796572 0.8704731 0.4921374 -0.02152073 0.8704378 0.4918079 0.1426057 0.8789774 0.455041 0.1762301 0.8613004 0.476555 0.1986147 0.8788428 0.4338061 0.2333244 0.8614715 0.4510284 0.2515748 0.8786831 0.4057415 0.2867894 0.8616723 0.4186561 0.3006618 0.8784944 0.3712819 0.3358055 0.8619018 0.3799475 0.3451099 0.8782793 0.3309453 0.3796193 0.8621631 0.3355059 0.3842258 0.8780358 0.2853487 0.4175623 0.8624542 0.2860324 0.4173897 0.8777669 0.2351837 0.4638696 0.8771414 0.1242899 0.4909479 0.8635032 0.1154661 0.4764334 0.8767852 0.06526005 0.5007228 0.8639101 0.05418485 0.481553 0.8764025 0.005039632 0.502842 0.8643437 -0.007747352 0.4791352 0.8759884 -0.05544185 0.4972862 0.8648087 -0.06937122 0.4691882 0.8755459 -0.115247 0.4841769 0.865298 -0.1297382 0.4518457 0.8750717 -0.1734506 0.4637346 0.8658158 -0.1879181 0.427347 0.8745666 -0.2291458 -0.2479257 0.8756085 -0.4145392 -0.2644486 0.8649634 -0.4265034 -0.1957191 0.8747692 -0.4432529 -0.2082186 0.8659222 -0.454779 -0.1401893 0.8739486 -0.4653612 -0.1491007 0.8668395 -0.4757714 -0.082183 0.8731482 -0.480477 -0.08802419 0.86772 -0.4891972 -0.02258044 0.8723667 -0.4883304 -0.02593863 0.8685649 -0.4948963 0.03770625 0.8716093 -0.4887492 0.03618764 0.8693705 -0.4928341 0.09774202 0.8708714 -0.4816946 0.09740424 0.8701378 -0.4830867 0.1565988 0.870154 -0.4672353 0.156769 0.8708722 -0.4658383 0.2133556 0.8694599 -0.4455545 0.2133772 0.8715713 -0.4413997 0.2671262 0.8687931 -0.4169439 0.2663718 0.8722367 -0.4101819 0.3170627 0.8681479 -0.3818254 0.3149533 0.8728663 -0.3727048 0.3623719 0.8675262 -0.3407124 0.358393 0.8734655 -0.3295641 0.402333 0.8669298 -0.2942128 -0.1643785 0.9652857 -0.2029861 -0.1885229 0.9652853 -0.1807858 -0.1885231 0.9652858 -0.1807826 -0.2096943 0.9652852 -0.155733 -0.2096954 0.9652855 -0.1557297 -0.22756 0.9652853 -0.1282223 -0.2275598 0.9652854 -0.1282216 -0.2522981 0.9652854 -0.06760215 -0.2587819 0.9652852 -0.03544658 -0.2587801 0.9652858 -0.0354458 -0.2611821 0.9652858 -0.002733707 -0.261184 0.9652852 -0.002731978 -0.259468 0.965285 0.03002291 -0.2594653 0.9652858 0.03002166 -0.2536565 0.9652857 0.06230682 -0.2536573 0.9652855 0.06230503 -0.2438481 0.9652854 0.09360736 -0.2438481 0.9652855 0.09360647 -0.2301933 0.9652854 0.1234306 -0.2301934 0.9652854 0.1234312 -0.1922658 0.9652856 0.1767
<technique_common>
<accessor source="#FL_wheel-mesh-normals-array" count="17448" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="FL_wheel-mesh-vertices">
<input semantic="POSITION" source="#FL_wheel-mesh-positions"/>
</vertices>
<triangles count="18018">
<input semantic="VERTEX" source="#FL_wheel-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#FL_wheel-mesh-normals" offset="1"/>
<p>0 0 1 0 2 0 3 1 4 1 5 1 6 2 7 2 8 2 9 3 10 3 11 3 1 4 12 4 13 4 4 5 14 5 15 5 7 6 16 6 17 6 10 7 18 7 19 7 12 8 20 8 21 8 14 9 22 9 23 9 16 10 24 10 25 10 18 11 26 11 27 11 28 12 29 12 20 12 30 13 31 13 22 13 32 14 33 14 24 14 34 15 35 15 26 15 36 16 37 16 38 16 38 17 37 17 39 17 38 18 39 18 40 18 40 19 39 19 41 19 40 20 41 20 42 20 26 21 35 21 27 21 27 22 35 22 43 22 27 23 43 23 44 23 44 24 43 24 45 24 44 25 45 25 46 25 46 26 45 26 47 26 46 27 47 27 48 27 48 28 47 28 49 28 48 29 49 29 50 29 50 30 49 30 51 30 50 31 51 31 52 31 52 32 51 32 53 32 52 33 53 33 54 33 24 34 33 34 25 34 25 35 33 35 55 35 25 36 55 36 56 36 55 37 57 37 56 37 56 38 57 38 58 38 56 39 58 39 59 39 58 40 60 40 59 40 59 41 60 41 61 41 59 42 61 42 62 42 61 43 63 43 62 43 62 44 63 44 64 44 62 45 64 45 65 45 65 46 64 46 66 46 66 47 67 47 65 47 65 48 67 48 68 48 65 49 68 49 69 49 68 50 70 50 69 50 69 51 70 51 71 51 69 52 71 52 72 52 73 53 74 53 75 53 75 54 74 54 72 54 75 55 72 55 76 55 76 56 72 56 71 56 22 57 31 57 23 57 23 58 31 58 77 58 23 59 77 59 78 59 78 60 77 60 79 60 78 61 79 61 80 61 80 62 79 62 81 62 80 63 81 63 82 63 82 64 81 64 83 64 82 65 83 65 84 65 84 66 83 66 85 66 84 67 85 67 86 67 86 68 85 68 87 68 86 69 87 69 88 69 20 70 29 70 21 70 21 71 29 71 89 71 21 72 89 72 90 72 90 73 89 73 91 73 90 74 91 74 92 74 92 75 91 75 93 75 92 76 93 76 94 76 94 77 93 77 95 77 94 78 95 78 96 78 96 79 95 79 97 79 96 80 97 80 98 80 98 81 97 81 99 81 98 82 99 82 100 82 101 83 102 83 103 83 103 84 102 84 104 84 103 85 104 85 105 85 105 86 104 86 106 86 105 87 106 87 107 87 107 88 106 88 108 88 107 89 108 89 109 89 109 90 108 90 110 90 109 91 110 91 111 91 111 92 110 92 112 92 111 93 112 93 113 93 113 94 112 94 114 94 113 95 114 95 115 95 115 96 114 96 116 96 115 97 116 97 117 97 117 98 116 98 118 98 117 99 118 99 119 99 119 100 118 100 120 100 119 101 120 101 121 101 121 102 120 102 122 102 121 103 122 103 123 103 123 104 122 104 124 104 123 105 124 105 125 105 125 106 124 106 126 106 125 107 126 107 127 107 128 108 36 108 129 108 129 109 36 109 38 109 129 110 38 110 130 110 130 111 38 111 40 111 130 112 40 112 131 112 131 113 40 113 42 113 131 114 42 114 132 114 18 115 27 115 19 115 19 116 27 116 44 116 19 117 44 117 133 117 133 118 44 118 46 118 133 119 46 119 134 119 134 120 46 120 48 120 134 121 48 121 135 121 135 122 48 122 50 122 135 123 50 123 136 123 136 124 50 124 52 124 136 125 52 125 137 125 137 126 52 126 54 126 137 127 54 127 138 127 16 128 25 128 17 128 17 129 25 129 56 129 17 130 56 130 139 130 139 131 56 131 59 131 139 132 59 132 140 132 140 133 59 133 62 133 140 134 62 134 141 134 141 135 62 135 65 135 141 136 65 136 142 136 142 137 65 137 69 137 142 138 69 138 143 138 143 139 69 139 72 139 143 140 72 140 144 140 144 141 72 141 74 141 144 142 74 142 145 142 14 143 23 143 15 143 15 144 23 144 78 144 15 145 78 145 146 145 146 146 78 146 80 146 146 147 80 147 147 147 147 148 80 148 82 148 147 149 82 149 148 149 148 150 82 150 84 150 148 151 84 151 149 151 149 152 84 152 86 152 149 153 86 153 150 153 150 154 86 154 88 154 150 155 88 155 151 155 12 156 21 156 13 156 13 157 21 157 90 157 13 158 90 158 152 158 152 159 90 159 92 159 152 160 92 160 153 160 153 161 92 161 94 161 153 162 94 162 154 162 154 163 94 163 96 163 154 164 96 164 155 164 155 165 96 165 98 165 155 166 98 166 156 166 156 167 98 167 100 167 156 168 100 168 157 168 102 169 158 169 104 169 104 170 158 170 159 170 104 171 159 171 106 171 106 172 159 172 160 172 106 173 160 173 108 173 108 174 160 174 161 174 108 175 161 175 110 175 110 176 161 176 162 176 110 177 162 177 112 177 112 178 162 178 163 178 112 179 163 179 114 179 114 180 163 180 164 180 114 181 164 181 116 181 116 182 164 182 165 182 116 183 165 183 118 183 118 184 165 184 166 184 118 185 166 185 120 185 120 186 166 186 167 186 120 187 167 187 122 187 122 188 167 188 168 188 122 189 168 189 124 189 124 190 168 190 169 190 124 191 169 191 126 191 170 192 128 192 171 192 171 193 128 193 129 193 171 194 129 194 172 194 172 195 129 195 130 195 172 196 130 196 173 196 173 197 130 197 131 197 173 198 131 198 174 198
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="FL_wheel" name="FL wheel" 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="#FL_wheel-mesh" name="FL wheel"/>
</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>