unitree_ros/robots/h1_description/meshes/torso_link.dae

<?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 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb</authoring_tool>
    </contributor>
    <created>2024-04-12T10:00:12</created>
    <modified>2024-04-12T10:00:12</modified>
    <unit name="meter" meter="1"/>
    <up_axis>Z_UP</up_axis>
  </asset>
  <library_effects>
    <effect id="Material_001-effect">
      <profile_COMMON>
        <technique sid="common">
          <lambert>
            <emission>
              <color sid="emission">0 0 0 1</color>
            </emission>
            <diffuse>
              <color sid="diffuse">0.1 0.1 0.1 1</color>
            </diffuse>
            <reflectivity>
              <float sid="specular">0.5</float>
            </reflectivity>
          </lambert>
        </technique>
      </profile_COMMON>
    </effect>
  </library_effects>
  <library_images/>
  <library_materials>
    <material id="Material_001-material" name="Material.001">
      <instance_effect url="#Material_001-effect"/>
    </material>
  </library_materials>
  <library_geometries>
    <geometry id="torso_link_006-mesh" name="torso_link.006">
      <mesh>
        <source id="torso_link_006-mesh-positions">
          <float_array id="torso_link_006-mesh-positions-array" count="50214">-0.07299995 -0.09499996 0.03098785 -0.06881618 -0.09028148 0.01599997 -0.05004596 -0.03487682 0.01599997 -0.07299995 -0.08978235 0.0245248 -0.07099997 -0.0857703 0.01599997 -0.04355645 -0.04270631 0.01599997 -0.06591111 -0.09436696 0.01599997 -0.06236624 -0.09791171 0.01599997 -0.07251054 -0.09809017 0.03448981 -0.07273048 -0.09730595 0.03374129 -0.0722624 -0.09876924 0.03505736 -0.07287687 -0.09656435 0.03294509 -0.07109016 -0.1008778 0.03627884 -0.07153606 -0.1002091 0.0359897 -0.07194608 -0.09946841 0.03555876 -0.06887781 -0.1030901 0.03627884 -0.06948733 -0.1026101 0.03644651 -0.07007104 -0.1020711 0.0365042 -0.07060629 -0.1014918 0.0364474 -0.06753987 -0.10391 0.03560501 -0.06821107 -0.1035349 0.03599059 -0.06753987 -0.10391 0.467 -0.06642019 -0.1043969 0.467 -0.06792402 -0.1035287 0.4687365 -0.06636822 -0.1042541 0.4687365 -0.06799995 -0.1036602 0.467 -0.06887781 -0.1030901 0.467 -0.06933021 -0.102544 0.4687365 -0.06942784 -0.1026604 0.467 -0.07007104 -0.1020711 0.467 -0.07066041 -0.1014279 0.467 -0.07054406 -0.1013302 0.4687365 -0.07019841 -0.1010402 0.4704202 -0.07113796 -0.09969842 0.4704202 -0.07109016 -0.1008778 0.467 -0.07152867 -0.09992402 0.4687365 -0.07166022 -0.1 0.467 -0.07191002 -0.09953987 0.467 -0.07225412 -0.09836822 0.4687365 -0.07183021 -0.09821391 0.4704202 -0.07113796 -0.09796196 0.472 -0.07225412 -0.09663176 0.4704202 -0.07152867 -0.09650379 0.472 -0.07054406 -0.09633022 0.4734279 -0.07166022 -0.09499996 0.472 -0.07066041 -0.09499996 0.4734279 -0.06942784 -0.09499996 0.4746605 -0.07066041 0.09499996 0.4734279 -0.07166022 0.09499996 0.472 -0.07225412 0.09673649 0.4703682 -0.07152867 0.09673649 0.471924 -0.07239693 0.09499996 0.4704202 -0.07284808 0.09499996 0.4687365 -0.07239693 -0.09499996 0.4704202 -0.07269847 0.09673649 0.4687101 -0.07251054 0.09809017 0.467 -0.07225412 0.0984202 0.4686318 -0.07284808 0.09673649 0.467 -0.07287687 0.09656435 0.03294509 -0.07273036 0.09730648 0.03374189 -0.07299995 0.09499996 0.3275387 -0.07251054 0.09809017 0.03448981 -0.06591171 0.09436631 0.01599997 -0.07226246 0.09876912 0.03505724 -0.07191002 0.09953987 0.03560501 -0.06236696 0.09791111 0.01599997 -0.07153487 0.100211 0.03599059 -0.07239693 0.0984202 0.467 -0.07191002 0.09953987 0.467 -0.07152867 0.1 0.4685038 -0.07166022 0.1 0.467 -0.07109016 0.1008778 0.03627884 -0.07061016 0.1014873 0.03644651 -0.07109016 0.1008778 0.467 -0.07007104 0.1020711 0.0365042 -0.07054406 0.1014279 0.4683302 -0.07066041 0.1014279 0.467 -0.07007104 0.1020711 0.467 -0.0694918 0.1026063 0.0364474 -0.06887781 0.1030901 0.03627884 -0.06942784 0.1026604 0.467 -0.06933021 0.1026604 0.4681162 -0.06887781 0.1030901 0.467 -0.06799995 0.1036602 0.467 -0.06792402 0.1036602 0.4678682 -0.06820917 0.1035361 0.0359897 -0.0674684 0.1039461 0.03555876 -0.06676924 0.1042624 0.03505736 -0.06753987 0.10391 0.467 -0.06642019 0.1043969 0.467 -0.06636822 0.1043969 0.4675939 -0.06609016 0.1045106 0.03448981 -0.06530594 0.1047305 0.03374129 -0.06609016 0.1045106 0.467 -0.06456434 0.1048769 0.03294509 -0.06473648 0.104848 0.467 -0.06471008 0.104848 0.4673016 -0.0662139 0.1043969 0.4681698 -0.06299996 0.105 0.467 -0.06463176 0.104848 0.4675939 -0.06450378 0.104848 0.4678682 -0.06596195 0.1043969 0.4687101 -0.06562 0.1043969 0.4691985 -0.06683021 0.1036602 0.470214 -0.06733012 0.1036602 0.4695 -0.06769841 0.1036602 0.4687101 -0.06792402 0.1026604 0.4711318 -0.06856667 0.1026604 0.470214 -0.06904023 0.1026604 0.4691985 -0.06886821 0.1014279 0.471924 -0.06963413 0.1014279 0.4708302 -0.07019841 0.1014279 0.46962 -0.06963413 0.1 0.4725667 -0.07049995 0.1 0.4713301 -0.07113796 0.1 0.469962 -0.07019841 0.0984202 0.4730402 -0.07113796 0.0984202 0.4716985 -0.07183021 0.0984202 0.470214 -0.07054406 0.09673649 0.4733302 -0.06933021 0.09673649 0.4745441 -0.06942784 0.09499996 0.4746605 -0.06799995 0.09499996 0.4756603 -0.06799995 -0.09499996 0.4756603 -0.06933021 -0.09611618 0.4746605 -0.06792402 -0.09586822 0.4756603 -0.06642019 -0.09499996 0.4763969 -0.06642019 0.09499996 0.4763969 -0.066
          <technique_common>
            <accessor source="#torso_link_006-mesh-positions-array" count="16738" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <source id="torso_link_006-mesh-normals">
          <float_array id="torso_link_006-mesh-normals-array" count="129831">0 0 -1 -5.66036e-7 0 -1 -0.8309767 -0.4022648 -0.3842666 3.01398e-7 0 -1 -0.7540701 -0.5362002 -0.3792988 -0.6558595 -0.6558696 -0.3737425 -0.7550964 -0.53446 -0.3797131 -0.7245441 -0.5782573 -0.3750393 -0.7345918 -0.5648413 -0.3759379 -0.7437221 -0.5518527 -0.3772746 -0.7139294 -0.5915929 -0.3745967 -0.6747273 -0.6349956 -0.3761962 -0.6881417 -0.6210613 -0.3751585 -0.7015109 -0.6062786 -0.3745781 -0.6215376 -0.6825212 -0.3845204 -0.6343401 -0.6721248 -0.3819175 -0.6476262 -0.6606549 -0.3796254 -0.6613057 -0.6481025 -0.3776746 -0.6092541 -0.6918981 -0.3874102 -0.4878341 -0.8729364 0 -0.5549255 -0.8319 1.40185e-4 -0.3987873 -0.9170436 0 -0.4771466 -0.8788237 -1.90764e-4 -0.3972758 -0.913564 0.08702349 -0.4202516 -0.9013195 0.1049367 -0.4753231 -0.8754919 0.08707398 -0.5446523 -0.8386621 0 -0.5425928 -0.835479 0.08699429 -0.6186783 -0.7856445 0 -0.6784067 -0.7346867 1.41384e-4 -0.6156299 -0.7880356 -1.58945e-4 -0.5702804 -0.8143812 0.1075342 -0.6132885 -0.7850418 0.08710259 -0.6729673 -0.7345299 0.08706837 -0.675542 -0.7373215 0 -0.7372883 -0.6755783 -1.27199e-4 -0.7854387 -0.6189397 1.4368e-4 -0.7344956 -0.6730038 0.08707517 -0.7029017 -0.7029696 0.1084567 -0.7344769 -0.6786338 0 -0.6831867 -0.6831818 0.2579121 -0.7914257 -0.5541836 0.2579265 -0.7914304 -0.5541803 0.2579193 -0.7850446 -0.613283 0.08711403 -0.8144025 -0.5702468 0.1075516 -0.8354814 -0.5425827 0.08703523 -0.8755083 -0.4752843 0.08712071 -0.9013016 -0.4202837 0.1049617 -0.875665 -0.4083009 0.2578787 -0.8756358 -0.4083381 0.2579184 -0.8219658 -0.3832757 0.4212743 -0.933255 -0.2500562 0.2578896 -0.8760151 -0.2347311 0.4213063 -0.8760342 -0.2347117 0.4212773 -0.8170596 -0.07146638 0.572107 -0.7922326 -0.2122771 0.5721067 -0.817059 -0.07146775 0.5721074 -0.9034787 -0.07903587 0.4212832 -0.8191467 0 0.5735842 -0.7057738 -0.06173324 0.7057425 -0.7071264 0 0.7070872 -0.9028788 0.08686059 0.4210286 -0.9028974 0.08682525 0.4209961 -0.8160423 0.08683687 0.5714318 -0.9063044 0 0.4226256 -0.9659237 0 0.2588275 -0.9622784 0.08682912 0.2578393 -0.9622663 0.08685797 0.2578749 -0.9668145 0.2410715 0.08458411 -0.9610248 0.25821 0.09878706 -0.9332347 0.257927 0.2500935 -0.9810628 0.1936904 -1.17385e-5 -0.962866 0.2699799 9.35879e-5 -0.970289 0.2419489 0 -0.7346106 0.564821 -0.3759317 -0.7245632 0.5782294 -0.3750452 -0.9392723 0.3431728 0 -0.7133222 0.5923456 -0.3745641 -0.9094638 0.4157831 1.31197e-4 -0.6918509 0.609321 -0.3873892 -0.6558682 0.6558618 -0.373741 -0.8728902 0.4879166 0 -0.9455305 0.3255337 -2.22373e-4 -0.9170406 0.3987941 0 -0.8319762 0.5548114 1.39764e-4 -0.9140957 0.3975288 0.07999938 -0.9011815 0.4218807 0.09944266 -0.8762595 0.4757032 0.07665336 -0.8788432 0.4771108 -1.90811e-4 -0.6825957 0.6214409 -0.3845444 -0.6720992 0.6343705 -0.3819122 -0.7856311 0.6186953 0 -0.8386649 0.5446479 0 -0.7880349 0.6156306 -1.59047e-4 -0.7346646 0.6784306 1.41358e-4 -0.8364188 0.5431854 0.07316654 -0.8137941 0.5729756 0.0971502 -0.7861617 0.614183 0.06876802 -0.7372851 0.6755819 0 -0.7357651 0.6741719 0.06435877 -0.6786382 0.7344728 0 -0.6188901 0.7854777 1.43865e-4 -0.6755318 0.737331 -1.27107e-4 -0.670982 0.7324197 0.1155197 -0.6156315 0.7880342 0 -0.705762 0.7057546 0.06172913 -0.6147193 0.786911 0.0537725 -0.544059 0.8376967 0.04758274 -0.544651 0.8386628 -1.15293e-4 -0.567298 0.8190752 0.08537602 -0.5549147 0.8319073 0 -0.4841836 0.8749665 1.54228e-4 -0.591595 0.7139295 -0.3745931 -0.6062152 0.7015604 -0.3745881 -0.412177 0.9111039 7.9125e-6 -0.4771531 0.8788202 -5.47634e-6 -0.3431667 0.9392746 1.54098e-4 -0.4767158 0.8780682 0.04169619 -0.3985468 0.9164853 0.03485679 -0.3987826 0.9170456 -6.32275e-5 -0.415598 0.9062938 0.07687687 -0.2699963 0.9628615 0 -0.5648135 0.7346152 -0.3759339 -0.5782778 0.7245252 -0.3750442 -0.3257139 0.9454684 0 -0.2418471 0.9703144 -3.13364e-5 -0.1935161 0.9810972 1.4763e-4 -0.3256086 0.9450753 0.02849203 -0.325081 0.945261 0.02835732 -0.325081 0.945261 0.02835732 -0.2417653 0.970104 0.02116137 -0.2508442 0.9656755 0.06743925 -0.2508594 0.9656865 0.06722557 -0.2508
          <technique_common>
            <accessor source="#torso_link_006-mesh-normals-array" count="43277" stride="3">
              <param name="X" type="float"/>
              <param name="Y" type="float"/>
              <param name="Z" type="float"/>
            </accessor>
          </technique_common>
        </source>
        <vertices id="torso_link_006-mesh-vertices">
          <input semantic="POSITION" source="#torso_link_006-mesh-positions"/>
        </vertices>
        <lines count="8">
          <input semantic="VERTEX" source="#torso_link_006-mesh-vertices" offset="0"/>
          <p>16423 16425 16413 16432 16413 16433 16413 16434 16413 16435 16413 16436 16413 16437 16413 16438</p>
        </lines>
        <triangles material="Material_001-material" count="33469">
          <input semantic="VERTEX" source="#torso_link_006-mesh-vertices" offset="0"/>
          <input semantic="NORMAL" source="#torso_link_006-mesh-normals" offset="1"/>
          <p>1 0 2 0 5 0 4 1 2 1 1 1 1 2 3 2 4 2 5 3 6 3 1 3 6 4 0 4 1 4 5 0 7 0 6 0 7 5 19 5 6 5 6 6 11 6 0 6 8 7 6 7 10 7 8 8 9 8 6 8 9 9 11 9 6 9 6 10 14 10 10 10 6 11 18 11 12 11 12 12 13 12 6 12 6 13 13 13 14 13 6 14 20 14 15 14 6 15 15 15 16 15 16 16 17 16 6 16 6 17 17 17 18 17 6 18 19 18 20 18 19 19 21 19 20 19 20 20 21 20 15 20 19 21 22 21 21 21 21 22 25 22 15 22 21 23 22 23 24 23 23 24 21 24 24 24 25 25 21 25 23 25 15 26 25 26 26 26 26 27 25 27 23 27 15 28 26 28 16 28 16 29 26 29 17 29 26 30 28 30 17 30 27 31 26 31 23 31 28 32 26 32 27 32 29 33 28 33 27 33 17 34 28 34 29 34 29 35 30 35 12 35 18 36 29 36 12 36 30 37 29 37 31 37 31 38 29 38 27 38 17 39 29 39 18 39 31 40 27 40 32 40 33 41 31 41 32 41 35 42 31 42 33 42 34 43 30 43 31 43 35 44 34 44 31 44 36 45 34 45 35 45 37 46 36 46 35 46 38 47 37 47 35 47 38 48 35 48 39 48 39 49 35 49 33 49 39 50 33 50 40 50 41 51 38 51 39 51 42 52 39 52 40 52 41 53 39 53 42 53 45 54 42 54 43 54 42 55 40 55 43 55 44 56 42 56 45 56 44 57 41 57 42 57 48 58 44 58 45 58 45 59 43 59 46 59 47 60 45 60 46 60 48 58 45 58 47 58 48 61 49 61 51 61 48 62 50 62 49 62 47 63 50 63 48 63 51 64 44 64 48 64 52 65 53 65 51 65 51 66 54 66 52 66 51 64 53 64 44 64 51 67 49 67 54 67 54 68 55 68 57 68 54 69 56 69 55 69 49 70 56 70 54 70 57 71 59 71 58 71 57 72 61 72 59 72 55 73 61 73 57 73 62 74 59 74 61 74 61 75 63 75 62 75 55 76 63 76 61 76 62 77 63 77 64 77 64 78 63 78 55 78 65 79 64 79 66 79 62 80 64 80 65 80 64 81 68 81 66 81 55 82 67 82 64 82 64 83 67 83 68 83 66 84 68 84 71 84 56 85 68 85 67 85 69 86 68 86 56 86 69 87 70 87 68 87 68 88 70 88 71 88 65 89 66 89 71 89 65 90 71 90 72 90 71 91 73 91 72 91 71 92 70 92 73 92 73 93 76 93 74 93 72 94 73 94 74 94 73 95 70 95 69 95 69 96 75 96 73 96 75 97 76 97 73 97 74 98 76 98 77 98 75 99 77 99 76 99 74 100 77 100 78 100 78 101 77 101 79 101 77 102 80 102 79 102 80 103 77 103 75 103 79 104 80 104 82 104 75 105 81 105 80 105 81 106 82 106 80 106 84 107 83 107 82 107 82 108 83 108 86 108 81 109 84 109 82 109 79 110 82 110 85 110 85 111 82 111 86 111 65 112 86 112 87 112 65 113 85 113 86 113 86 114 88 114 87 114 86 115 83 115 88 115 87 116 88 116 91 116 84 117 88 117 83 117 90 118 89 118 88 118 88 119 89 119 91 119 90 120 88 120 84 120 91 121 93 121 92 121 91 122 92 122 65 122 91 123 65 123 87 123 91 124 89 124 93 124 93 125 95 125 94 125 92 126 93 126 94 126 93 127 89 128 90 129 96 130 95 130 93 130 90 131 96 131 93 131 97 132 96 132 90 132 97 133 99 133 96 133 98 134 95 134 96 134 99 135 98 135 96 135 98 136 99 137 100 138 101 139 100 139 99 139 101 140 99 140 97 140 102 141 100 141 101 141 103 142 102 142 101 142 104 143 101 143 97 143 103 144 101 144 104 144 107 145 104 145 105 145 104 146 97 146 105 146 106 147 104 147 107 147 106 148 103 148 104 148 107 149 105 149 108 149 109 150 106 150 107 150 110 151 107 151 108 151 109 152 107 152 110 152 112 153 109 153 110 153 113 154 110 154 111 154 110 155 108 155 111 155 112 156 110 156 113 156 115 157 112 157 113 157 116 158 113 158 114 158 113 159 111 159 114 159 115 160 113 160 116 160 50 161 116 161 117 161 116 162 114 162 117 162 118 163 116 163 50 163 118 164 115 164 116 164 120 165 119 165 118 165 119 166 115 166 118 166 47 167 118 167 50 167 120 168 118 168 47 168 120 169 122 169 121 169 121 170 119 170 120 170 47 60 46 60 120 60 120 171 46 171 122 171 121 172 122 172 125 172 46 173 123 173 122 173 122 174 123 174 124 174 122 175 124 175 125 175 126 176 125 176 128 176 121 177 125 177 126 177 125 178 124 178 127 178 125 179 127 179 128 179 128 180 127 180 129 180 128 181 129 181 131 181 130 182 128 182 131 182 126 183 128 183 130 183 130 182 131 182 134 182 132 184 131 184 136 184 132 185 160 185 131 185 131 185 162 185 133 185 133 186 135 186 131 186 131 185 150 185 134 185 131 187 135 187 144 187 136 188 131 188 142 188 139 189 131 189 137 189 138 190 137 190 131 190 143 191 138 191 131 191 140 192 131 192 139 192 141 193 131 193 140 193 142 194 131 194 141 194 143 195 131 195 129 195 144 185 158 185 131 185 131 196 159 196 145 196 145 185 146 185 131 185 131 197 146 197 147 197 131 198 147 198 148 
        </triangles>
      </mesh>
    </geometry>
  </library_geometries>
  <library_visual_scenes>
    <visual_scene id="Scene" name="Scene">
      <node id="torso_link_005" name="torso_link.005" 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="#torso_link_006-mesh" name="torso_link.005">
          <bind_material>
            <technique_common>
              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
            </technique_common>
          </bind_material>
        </instance_geometry>
      </node>
    </visual_scene>
  </library_visual_scenes>
  <scene>
    <instance_visual_scene url="#Scene"/>
  </scene>
</COLLADA>