From 0e8222aa748863aeb7e089418dde32979fd3ed9b Mon Sep 17 00:00:00 2001
From: earlaud <etienne.arlaud@inria.fr>
Date: Wed, 8 Jan 2025 18:06:29 +0100
Subject: [PATCH] [topic/Go2] Move visual files to dedicated folder
---
robots/go2_description/dae/base.dae | 288 --------------------
robots/go2_description/dae/calf.dae | 133 ---------
robots/go2_description/dae/calf_mirror.dae | 133 ---------
robots/go2_description/dae/foot.dae | 89 ------
robots/go2_description/dae/hip.dae | 140 ----------
robots/go2_description/dae/thigh.dae | 136 ---------
robots/go2_description/dae/thigh_mirror.dae | 136 ---------
robots/go2_description/urdf/go2.urdf | 47 ++--
8 files changed, 17 insertions(+), 1085 deletions(-)
delete mode 100644 robots/go2_description/dae/base.dae
delete mode 100644 robots/go2_description/dae/calf.dae
delete mode 100644 robots/go2_description/dae/calf_mirror.dae
delete mode 100644 robots/go2_description/dae/foot.dae
delete mode 100644 robots/go2_description/dae/hip.dae
delete mode 100644 robots/go2_description/dae/thigh.dae
delete mode 100644 robots/go2_description/dae/thigh_mirror.dae
diff --git a/robots/go2_description/dae/base.dae b/robots/go2_description/dae/base.dae
deleted file mode 100644
index b885589..0000000
--- a/robots/go2_description/dae/base.dae
+++ /dev/null
@@ -1,288 +0,0 @@
-<?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 4.2.2 LTS commit date:2024-09-23, commit time:12:18, hash:c03d7d98a413</authoring_tool>
- </contributor>
- <created>2024-10-10T11:45:18</created>
- <modified>2024-10-10T11:45:18</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_effects>
- <effect id="深色橡胶_001-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.6717055 0.6924257 0.7742702 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="白色logo_001-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">1 1 1 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="黑色贴纸_007-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.009018 0.009018 0.009018 1</color>
- </diffuse>
- <index_of_refraction>
- <float sid="ior">1.45</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="黑色金属_007-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.01341 0.01341 0.01341 1</color>
- </diffuse>
- <index_of_refraction>
- <float sid="ior">1.45</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="黑色塑料_003-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.023455 0.023455 0.023455 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="深色橡胶_001-material" name="深色橡胶.001">
- <instance_effect url="#深色橡胶_001-effect"/>
- </material>
- <material id="白色logo_001-material" name="白色logo.001">
- <instance_effect url="#白色logo_001-effect"/>
- </material>
- <material id="黑色贴纸_007-material" name="黑色贴纸.007">
- <instance_effect url="#黑色贴纸_007-effect"/>
- </material>
- <material id="黑色金属_007-material" name="黑色金属.007">
- <instance_effect url="#黑色金属_007-effect"/>
- </material>
- <material id="黑色塑料_003-material" name="黑色塑料.003">
- <instance_effect url="#黑色塑料_003-effect"/>
- </material>
- </library_materials>
- <library_geometries>
- <geometry id="base_004-mesh" name="base.004">
- <mesh>
- <source id="base_004-mesh-positions">
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- </instance_material>
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- </instance_material>
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- </instance_material>
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- </instance_material>
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- </instance_material>
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- <instance_camera url="#Camera-camera"/>
- </node>
- <node id="Light" name="Light" type="NODE">
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- <instance_light url="#Light-light"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
diff --git a/robots/go2_description/dae/calf.dae b/robots/go2_description/dae/calf.dae
deleted file mode 100644
index 03eb72c..0000000
--- a/robots/go2_description/dae/calf.dae
+++ /dev/null
@@ -1,133 +0,0 @@
-<?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 4.2.2 LTS commit date:2024-09-23, commit time:12:18, hash:c03d7d98a413</authoring_tool>
- </contributor>
- <created>2024-10-10T11:48:26</created>
- <modified>2024-10-10T11:48:26</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_effects>
- <effect id="黑色足端_005-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0 0 0 1</color>
- </diffuse>
- <index_of_refraction>
- <float sid="ior">1.45</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="深色橡胶_005-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.6717055 0.6924257 0.7742702 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_images/>
- <library_materials>
- <material id="黑色足端_005-material" name="黑色足端.005">
- <instance_effect url="#黑色足端_005-effect"/>
- </material>
- <material id="深色橡胶_005-material" name="深色橡胶.005">
- <instance_effect url="#深色橡胶_005-effect"/>
- </material>
- </library_materials>
- <library_geometries>
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3.12956e-4 0.009001076 0.9927642 0.01189005 3.1e-4 0.999565 0.29257 0.113178 0.2849045 0.4997463 0.01135122 0.1293557 0.993327 1 4.9e-5 0.00137192 0.999968 0 4.9e-5 0.00137192 0.993327 1 4.9e-5 1 0.9910003 0.1930419 0.005862951 0 0.989884 0 0.7842682 0.2605038 0.9522547 0.2026145 1 0.250304 0.9910003 0.1930419 0.04275763 0.4097543 0.005862951 0 0.8016672 0.1898491 0.9522547 0.2026145 0.666801 0.2013103 0.7842682 0.2605038 0.666801 0.2013103 0.9522547 0.2026145 0.997872 0.202268 0.001027882 0 0.999504 5.17e-4 0.666801 0.2013103 0.7842682 0.2605038 0.6326884 0.2539198 0.6326884 0.2539198 0.7842682 0.2605038 0.7756621 0.3901152 0.2152805 0.260533 0.1224789 0.4981327 0.1029608 0.3927711 0.9988186 0.9979062 3.01326e-4 0.007750868 0.9992714 0.007878065 0.2152805 0.260533 0.3670806 0.2539634 0.1224789 0.4981327 0.9988289 0.5416072 3.39e-4 3.3e-4 1 0 0.9988289 0.5416072 3.4178e-4 0.9921248 3.39e-4 3.3e-4 0.7151153 0.5006459 0.70743 0.11318 0.9874736 0.1283041 0.500665 0.335312 0.70743 0.11318 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0.478572 0.005864322 0.7696365 0.2834793 0.230228 0.2855208 0.5737525 0.5002654 0.230228 0.2855208 0.7696365 0.2834793 0.2298332 0.7151871 0.002920746 0.4998539 0.230228 0.2855208 0.230228 0.2855208 0.5737525 0.5002654 0.2298332 0.7151871 3.73882e-4 0.5380825 0.980327 1 3.12e-4 0.999981 0.9968734 0.5944898 0.001012086 0.4345659 1 1.71e-4 1 1.71e-4 0.001012086 0.4345659 6.79e-4 0 0.1475296 0.5001136 0.1333503 0.3868635 0.2815067 0.3489682 0.1475296 0.5001136 0.0345838 0.499931 0.1333503 0.3868635 0.001081883 0.999992 0.9989066 0.5290811 1 0.999999 0.9979694 0.4715319 0.001659333 0.4819508 0.001065969 1.07e-4 0.9979694 0.4715319 0.001065969 1.07e-4 1 0 0.50051 0.666857 0.6249241 0.50029 0.8042715 0.6741057 0.56325 0.886823 0.8042715 0.6741057 0.9845097 0.8714959 0.001659333 0.4819508 0.997575 0.999982 0.001065969 0.99998 0.56325 0.886823 0.50051 0.666857 0.8042715 0.6741057 0.001659333 0.4819508 0.9979694 0.4715319 0.997575 0.999982 0.3126111 0.8120803 0.2376337 0.7458937 0.2812498 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0.50051 0.333171 3.76385e-4 0.4206973 0.4773081 7.37121e-6 0.003116965 0.168587 0.007093966 1.6e-5 0.4773081 7.37121e-6 0.50051 0.333171 0.003116965 0.168587 0.01412153 0.744885 0.212239 0.9893524 0.02478498 1 0.01412153 0.744885 0.2502668 0.7448901 0.212239 0.9893524 0.2502668 0.7448901 0.2301271 0.9018224 0.212239 0.9893524 0.997023 0.997514 0 1 0.999092 0 0.08534646 0.01138854 7.7e-5 0.19788 8.4e-5 0.103356 0.05990356 0.1805096 7.7e-5 0.19788 0.08534646 0.01138854 0.05990356 0.1805096 0.08534646 0.01138854 0.198143 0.0113089 0.998712 0.004749 0.9762668 0.9906072 0 0 0.06741386 0.9256137 0.008221864 0.2668799 0.91725 0.8190171 0.3200411 0.7371594 0.480666 0.931586 0.2851274 0.9799749 3.02e-4 0.999411 0.995856 1.72e-4 0.99999 1 0.995856 1.72e-4 3.02e-4 0.999411 3.02e-4 0 2.35026e-4 0.1647365 0.9992627 0.5175187 2.08983e-4 0.7283523 0.9578504 0.02153325 0.9829885 0.9889833 0.00340861 0.9913265 0.4564437 0.1815074 0.3121647 0.1883778 0.481826 0.010288 0.983178 0.004728913 0.334276 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0.2441625 0.8601297 0.4786778 0.9855955 0.003375113 0.9908916 0.808396 0.04248976 0.591239 0.754203 0.2441625 0.584745 0.24555 0.7762716 0.1658236 0.3687255 -1.15728e-4 0.04735308 0.2029688 0.2475669 0.002578914 0.1985638 0.1902034 0.04735308 0.2029688 0.3687255 -1.15728e-4 0.754203 0.2441625 0.6880376 0.4459084 0.584745 0.24555 0.584745 0.24555 0.6880376 0.4459084 0.6316902 0.4994628 0.38611 0.490884 0.3544517 0.24555 0.6316902 0.4994628 0.6316902 0.4994628 0.4738717 0.6834644 0.38611 0.490884 0.6316902 0.4994628 0.3544517 0.24555 0.584745 0.24555 0.38611 0.490884 0.4738717 0.6834644 0.3200411 0.7371594 0.480666 0.931586 0.3200411 0.7371594 0.4738717 0.6834644 7.7e-5 0.19788 0.05990356 0.1805096 0.3121647 0.1883778 0.2370367 0.2542729 0.3121647 0.1883778 0.2815067 0.3489682 0.3121647 0.1883778 0.3828158 0.2459447 0.2815067 0.3489682 0.7011813 0.1894643 0.3828158 0.2459447 0.3121647 0.1883778 0.3121647 0.1883778 0.2370367 0.2542729 7.7e-5 0.19788 0.8042588 0.3259199 0.56325 0.113194 0.9852621 0.1287488 2.44e-4 0 0.997345 1 2.44e-4 0.999601 0.1443733 0.05372381 0.997232 0.676588 0.001160979 0.999754 0.56325 0.113194 0.4773081 7.37121e-6 0.563265 1.8e-5 0.50051 0.333171 0.56325 0.113194 0.8042588 0.3259199 0.50051 0.333171 0.4773081 7.37121e-6 0.56325 0.113194 0.997345 1 2.44e-4 0 0.999535 1.4e-5 0.001160979 0.999754 0.997232 0.676588 0.997414 1 7.7e-5 0.19788 0.2370367 0.2542729 8.4e-5 0.2431319 0.997458 9.6e-5 0.00167489 0.518128 0.001081883 0 0.00167489 0.518128 0.997458 9.6e-5 0.9989066 0.5290811 0.2370367 0.2542729 0.2815067 0.3489682 0.1333503 0.3868635 0.00167489 0.518128 0.9989066 0.5290811 0.001081883 0.999992 0.6249241 0.50029 0.50051 0.333171 0.8042588 0.3259199 6.79e-4 1 0.9968734 0.5944898 0.998883 0.999925 0.001012086 0.4345659 0.9968734 0.5944898 6.79e-4 1 0.997501 0 0.997232 0.676588 0.1443733 0.05372381 0.6249241 0.50029 0.50051 0.666857 0.50051 0.333171 0.7441527 0.2302371 0.9999756 0.4787178 0.5469446 0.7208284 0.245551 0.3372033 0.2454284 4.25237e-4 0.4930248 0.003709375 0.245551 0.3372033 0.4930248 0.003709375 0.490884 0.19348 0.490884 0.19348 0.4930248 0.003709375 0.7448996 0.2505264 0.7371954 0.3201982 0.490884 0.386114 0.490884 0.19348 0.7371954 0.3201982 0.490884 0.19348 0.7448996 0.2505264 0.245551 0.3372033 0.490884 0.19348 0.490884 0.386114 0.6835576 0.473948 0.490884 0.386114 0.7371954 0.3201982 0.490884 0.386114 0.6835576 0.473948 0.4996585 0.6313763 0.4996585 0.6313763 0.245551 0.3372033 0.490884 0.386114 0.4996585 0.6313763 0.6835576 0.473948 0.637923 0.527872 0.245551 0.584745 0.245551 0.3372033 0.4996585 0.6313763 0.445977 0.6880531 0.245551 0.584745 0.4996585 0.6313763 0.4996585 0.6313763 0.637923 0.527872 0.74237 0.5464388 0.999766 0 0.982511 0.997559 0.334556 0.416045 0.481781 0.989705 0.4566356 0.8187574 0.595528 0.99114 0.334556 0.416045 0.982511 0.997559 0 1 0.7433148 0.7165828 0.74237 0.5464388 0.8864819 0.5649109 0.7004265 0.8106809 0.4566356 0.8187574 0.3126111 0.8120803 0.9835609 0.9756911 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0.5030015 0.1224789 0.4981327 0.2241686 0.6098166 2.90985e-4 0.9938619 0.9999602 0.5646746 0.999588 0.999884 2.90985e-4 0.9938619 0.998714 0.002162694 0.9999602 0.5646746 0.50005 0.665242 0.3248566 0.9931496 0.003014147 0.6010049 0.998714 0.002162694 2.90985e-4 0.9938619 2.9e-4 2.81e-4 0.3645623 0.7959199 0.214678 0.7400562 0.36712 0.7460429 0.36712 0.7460429 0.214678 0.7400562 0.2241686 0.6098166 5.51356e-5 0.006163537 1 0.999417 5.5e-5 1 0.3248566 0.9931496 0.50005 0.665242 0.6729696 0.9932431 0.6326876 0.7460649 0.3645623 0.7959199 0.36712 0.7460429 0.999557 7.2e-4 1 0.999417 5.51356e-5 0.006163537 3.25e-4 0.999582 0.9928936 0.01186501 0.999668 1 0.2241686 0.6098166 0.214678 0.7400562 0.005054473 0.5030015 0.214678 0.7400562 0.3645623 0.7959199 0.04752391 0.7974359 0.214678 0.7400562 0.04752391 0.7974359 1.1e-5 0.749691 0.993036 1 6.8e-5 9.85e-4 1 0 3.4178e-4 0.9921248 0.9988289 0.5416072 0.992367 1 0.1224789 0.4981327 0.005054473 0.5030015 0.1029608 0.3927711 3.282e-4 0.009168267 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0.2452317 2.07409e-4 0.2452317 0.3065245 0.006466388 0.355266 0.245551 0.3065245 0.006466388 2.07409e-4 0.2452317 0.004011929 3.23e-4 0.2454284 4.25237e-4 0.006620526 0.306662 5.79471e-6 0.4748814 0.2454284 4.25237e-4 0.245551 0.3372033 0.006620526 0.306662 0.193476 0.490884 0.355266 0.245551 0.38611 0.490884 0.003507196 0.4927844 0.193476 0.490884 0.2505448 0.7447868 0.38611 0.490884 0.3199739 0.7371425 0.193476 0.490884 0.193476 0.490884 0.3199739 0.7371425 0.2505448 0.7447868 0.9399601 0.8198357 0.9147852 0.9885864 0.801917 0.98863 0.997381 0.002288997 0.9807272 0.9905862 0 0 0.9399601 0.8198357 0.999888 0.802363 0.9147852 0.9885864 0.99497 0 6.3e-4 1 6.3e-4 0.004155993 6.3e-4 1 0.99497 0 1 0.999622 0.999888 0.802363 0.9399601 0.8198357 0.688302 0.8123196 0.3199739 0.7371425 0.479756 0.931948 0.285198 0.9800445 0.479756 0.931948 0.3199739 0.7371425 0.4733717 0.6837944 0.38611 0.490884 0.4733717 0.6837944 0.3199739 0.7371425 0.5430239 0.8184716 0.688302 0.8123196 0.518242 0.989647 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diff --git a/robots/go2_description/dae/calf_mirror.dae b/robots/go2_description/dae/calf_mirror.dae
deleted file mode 100644
index e60a9e7..0000000
--- a/robots/go2_description/dae/calf_mirror.dae
+++ /dev/null
@@ -1,133 +0,0 @@
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- <instance_effect url="#黑色足端_006-effect"/>
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- <instance_effect url="#深色橡胶_007-effect"/>
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0.979502 1.13164e-4 0.5485283 0.9978327 0.7226136 0.995453 0.198108 0.994227 0 1.13164e-4 0.5485283 0.995453 0.198108 0.335533 0.414787 0 1 0.987968 0.995453 0.999557 0 0.335533 0.414787 0.987968 0.995453 0.518198 0.01034593 0.404388 0.008932948 0.548484 0.165125 0.6880471 0.1882338 0.518198 0.01034593 0.548484 0.165125 0.6838111 0.4735012 0.737203 0.320114 0.490884 0.386114 0.737203 0.320114 0.6838111 0.4735012 0.931962 0.479859 0.9817764 0.008116066 0.003399491 0.008756697 0.9576194 0.9783691 0.737203 0.320114 0.931962 0.479859 0.9738996 0.3200715 0.9781351 0.009345293 0 1 1 0.994891 0.9910005 0.1930466 0.04275822 0.4097562 0.9611479 0.9883042 0.9522535 0.2026133 0.752282 0.002602994 0.6310744 -1.19211e-4 0.03063631 0.5847546 0.1644195 0.7757587 0.2463593 0.7563049 0.3544517 0.24555 0.584745 0.24555 0.5846627 0.03049337 0.688578 0.04947495 0.5846627 0.03049337 0.584745 0.24555 0.03063631 0.5847546 0.04962688 0.688648 0.1644195 0.7757587 0.7929107 0.07700753 0.688578 0.04947495 0.584745 0.24555 0.04962688 0.688648 0.07711976 0.7929697 0.1644195 0.7757587 0.7762716 0.1658235 0.7929107 0.07700753 0.584745 0.24555 0.245551 0.838288 0.1644195 0.7757587 0.07711976 0.7929697 0.305476 0.386986 0 1 1 0.997642 0.305476 0.386986 1 0.997642 0.9982179 -7.79352e-4 0.3888642 0.921554 0.245551 0.838288 0.205325 0.9859673 0.07711976 0.7929697 0.205325 0.9859673 0.245551 0.838288 0.001586914 0.499952 0.9989857 0.6330083 0.997872 0.202268 0.001586914 0.499952 0.001027882 1 0.9989857 0.6330083 0.997872 0.202268 0.001027882 0 0.001586914 0.499952 0.9850389 0.2083767 0.7762716 0.1658235 0.922792 0.3918683 0.04735296 0.2029689 0.3646168 0.2042334 0.1985638 0.1902035 0.04249185 0.5912327 0.005869925 0.999975 0.9908915 0.8083963 0.005869925 0.999975 0.989756 0.999975 0.9908915 0.8083963 0.04735296 0.2029689 0 0.250305 0.2152805 0.260533 0.3646168 0.2042334 0.04735296 0.2029689 0.2152805 0.260533 0.666801 0.2013103 0.3646168 0.2042334 0.6326883 0.2539198 0.2152805 0.260533 0.3670809 0.2539635 0.3646168 0.2042334 0.3646168 0.2042334 0.3670809 0.2539635 0.6326883 0.2539198 1 5.89e-4 5.51343e-5 0.9938991 0.999557 0.999272 1 5.89e-4 5.5e-5 0 5.51343e-5 0.9938991 0.50005 0.334777 0.6729494 0.006732106 0.3248754 0.006837368 0.3248754 0.006837368 0.004500031 0.4963426 0.50005 0.334777 0.50005 0.334777 0.9936385 0.4990813 0.6729494 0.006732106 0.50005 0.665242 0.50005 0.334777 0.004500031 0.4963426 0.9936385 0.4990813 0.50005 0.334777 0.50005 0.665242 3.01326e-4 0.007750928 3e-4 0.999819 0.9988187 0.9979034 3.19423e-4 0.9923151 0.9998746 0.564262 0.998544 0.002151548 0.998544 0.002151548 3.18e-4 2.22e-4 3.19423e-4 0.9923151 0.9947159 0.4969891 0.77566 0.3901131 0.8773765 0.50187 3.19423e-4 0.9923151 0.999784 0.99986 0.9998746 0.564262 3.1e-4 0.999565 0.999502 1 0.9927642 0.01189005 0.77566 0.3901131 0.9947159 0.4969891 0.784268 0.2605039 3.12956e-4 0.009000599 3.1e-4 0.999565 0.9927642 0.01189005 0.29257 0.113178 0.01135134 0.1293554 0.2849049 0.4997458 0.993327 1 0.999968 0 4.9e-5 0.00137192 4.9e-5 0.00137192 4.9e-5 1 0.993327 1 0.9910005 0.1930466 0.989884 0 0.005862951 0 0.784268 0.2605039 1 0.250304 0.9522535 0.2026133 0.9910005 0.1930466 0.005862951 0 0.04275822 0.4097562 0.8016672 0.1898492 0.666801 0.2013103 0.9522535 0.2026133 0.784268 0.2605039 0.9522535 0.2026133 0.666801 0.2013103 0.997872 0.202268 0.999504 5.17e-4 0.001027882 0 0.666801 0.2013103 0.6326883 0.2539198 0.784268 0.2605039 0.6326883 0.2539198 0.77566 0.3901131 0.784268 0.2605039 0.2152805 0.260533 0.1029635 0.3927684 0.1224791 0.4981325 0.9988187 0.9979034 0.9992715 0.007878422 3.01326e-4 0.007750928 0.2152805 0.260533 0.1224791 0.4981325 0.3670809 0.2539635 0.998829 0.5415947 1 0 3.39e-4 3.3e-4 0.998829 0.5415947 3.39e-4 3.3e-4 3.4178e-4 0.9921248 0.7151153 0.5006459 0.9874736 0.1283041 0.70743 0.11318 0.500665 0.335312 0.7151153 0.5006459 0.70743 0.11318 0.500665 0.335312 0.70743 0.11318 0.7898425 2.3002e-6 0.7151153 0.5006459 0.500665 0.335312 0.500665 0.664716 0.500665 0.664716 0.500665 0.335312 0.002200007 0.5001547 0.500665 0.335312 0.1780819 0.2815058 0.002200007 0.5001547 0.4149245 3e-6 0.1780819 0.2815058 0.500665 0.335312 0.7898425 2.3002e-6 0.4149245 3e-6 0.500665 0.335312 0.9920442 0.2549152 0.99971 0 0.01144492 8e-5 0.9920442 0.2549152 0.01144492 8e-5 0.01135742 0.2776864 0.5435754 0.4998842 0.6611717 0.366163 0.5280016 0.3883464 0.5435754 0.4998842 0.5280016 0.3883464 0.4307054 0.4999186 3.71459e-4 0.5417952 0.980327 1 0.9973524 0.5356327 0.6328333 0.2532701 0.5280016 0.3883464 0.6611717 0.366163 0.9973524 0.5356327 3.12e-4 8.47e-4 3.71459e-4 0.5417952 0.9973524 0.5356327 0.994893 0 3.12e-4 8.47e-4 0.6328333 0.2532701 0.6611717 0.366163 0.7011814 0.1894643 4.67e-4 0 4.67e-4 1 0.996023 0.999784 0.7680987 0.2850822 0.9834679 0.02071839 0.4784647 0.005880594 0.996023 0.999784 0.972791 2.3e-5 4.67e-4 0 0.4784647 0.005880594 0.2301957 0.2855157 0.7680987 0.2850822 0.5737525 0.5002652 0.7680987 0.2850822 0.2301957 0.2855157 0.2298325 0.7151895 0.2301957 0.2855157 0.002920985 0.4998536 0.2301957 0.2855157 0.2298325 0.7151895 0.5737525 0.5002652 3.71459e-4 0.5417952 3.12e-4 0.999981 0.980327 1 0.9968734 0.5944849 1 1.71e-4 0.001012086 0.4345646 1 1.71e-4 6.79e-4 0 0.001012086 0.4345646 0.1475296 0.5001134 0.2815057 0.3489694 0.13335 0.3868638 0.1475296 0.5001134 0.13335 0.3868638 0.03458338 0.4999312 0.001081883 0.999992 1 0.999999 0.9989067 0.5290824 0.9979693 0.4715121 0.001065969 1.07e-4 0.001660466 0.4824974 0.9979693 0.4715121 1 0 0.001065969 1.07e-4 0.50051 0.666857 0.8044707 0.6742879 0.6249238 0.5002902 0.56325 0.886823 0.9845094 0.8714954 0.8044707 0.6742879 0.001660466 0.4824974 0.001065969 0.99998 0.997575 0.999982 0.56325 0.886823 0.8044707 0.6742879 0.50051 0.666857 0.001660466 0.4824974 0.997575 0.999982 0.9979693 0.4715121 0.3126108 0.8120803 0.28125 0.6507849 0.2376338 0.7458931 0.28125 0.6507849 0.1334707 0.6132772 0.2376338 0.7458931 0.2376338 0.7458931 1.12e-4 0.802359 0.3126108 0.8120803 0.2376338 0.7458931 8.4e-5 0.756909 1.12e-4 0.802359 0.999806 0.999997 0.997553 0 2.44e-4 3.82e-4 0.1452543 0.9497252 0.999948 0.323847 0.998881 1.19e-4 0.001160979 0 0.1452543 0.9497252 0.998881 1.19e-4 0.998881 1.19e-4 0.998847 1.5e-5 0.998604 0 0.998 1 0.999528 1 0.999806 0.999997 0.999806 0.999997 2.44e-4 3.82e-4 2.44e-4 1 2.44e-4 1 0.143108 1 0.999806 0.999997 0.143108 1 0.3920989 1 0.999806 0.999997 0.998847 1.5e-5 0.998743 0 0.998604 0 0.998847 1.5e-5 0.998812 0 0.998743 0 0.998847 1.5e-5 0.998829 2e-6 0.998812 0 0.999736 1 0.999745 1 0.999771 1 0.998829 2e-6 0.99882 0 0.998812 0 0.999745 1 0.999753 1 0.999771 1 0.1452543 0.9497252 0.994801 1 0.999948 0.323847 0.477374 0.999998 0.563265 0.999998 0.56325 0.886823 0.50051 0.666857 0.477374 0.999998 0.56325 0.886823 0.50051 0.666857 0.003119885 0.831579 0.477374 0.999998 0.9014053 0.2301954 0.9893606 0.2124327 0.7448996 0.2505263 0.7448996 0.2505263 0.9893606 0.2124327 0.744949 0.01430892 0.9893606 0.2124327 1 0.02497798 0.744949 0.01430892 0.003119885 0.831579 0.007093966 1 0.477374 0.999998 0.7448996 0.2505263 0.744949 0.01430892 0.4930245 0.003709375 0.546944 0.7208264 0.7441526 0.2302317 0.4905102 0.2110203 0.2438434 0.4379875 0.546944 0.7208264 0.4905102 0.2110203 0.9722 0.2714713 0.793429 0.05146497 0.6628035 0.01532244 0.9722 0.2714713 0.90534 0.130899 0.793429 0.05146497 0.834327 0.2407296 0.7255843 0.5969627 0.9998262 0.5154449 0.6691662 8.01883e-5 0.7255843 0.5969627 0.834327 0.2407296 7.8887e-4 0.6667397 0.50051 0.333171 3.7638e-4 0.420698 7.8887e-4 0.6667397 0.50051 0.666857 0.50051 0.333171 0.50051 0.666857 7.8887e-4 0.6667397 0.003119885 0.831579 0.4197641 0.02290111 0.7255843 0.5969627 0.6691662 8.01883e-5 0.3261997 0.6126211 0.7255843 0.5969627 0.4197641 0.02290111 0.1659719 0.2408866 0.3261997 0.6126211 0.4197641 0.02290111 0.003116965 0.168587 3.7638e-4 0.420698 0.50051 0.333171 0.4774079 7.38681e-6 0.007093966 1.6e-5 0.003116965 0.168587 0.4774079 7.38681e-6 0.003116965 0.168587 0.50051 0.333171 0.01412153 0.7448846 0.02478498 1 0.2122787 0.989349 0.01412153 0.7448846 0.2122787 0.989349 0.2502788 0.7448907 0.2502788 0.7448907 0.2122787 0.989349 0.2301265 0.901819 0.997023 0.997514 0.999092 0 0 1 0.08534562 0.01138854 8.4e-5 0.103356 7.7e-5 0.19788 0.0599035 0.1805095 0.08534562 0.01138854 7.7e-5 0.19788 0.0599035 0.1805095 0.198143 0.0113089 0.08534562 0.01138854 0.998712 0.004749 0 0 0.976273 0.9906104 0.06741386 0.9256137 0.9172505 0.819024 0.008221805 0.2668828 0.320041 0.7371585 0.2851273 0.979975 0.480666 0.931586 3.02e-4 0.999411 0.99999 1 0.995856 1.72e-4 0.995856 1.72e-4 3.02e-4 0 3.02e-4 0.999411 2.35026e-4 0.1647365 2.08984e-4 0.7283502 0.9992628 0.5175189 0.9578475 0.0215348 0.00340861 0.9913263 0.9829898 0.9890021 0.4564524 0.1815165 0.481826 0.010288 0.3121649 0.1883777 0.983178 0.004728913 0 0 0.334276 0.583772 0.983178 0.004728913 0.334276 0.583772 0.999628 1 0.4564524 0.1815165 0.59552 0.008853971 0.481826 0.010288 0.4738717 0.6834648 0.527787 0.637863 0.6316904 0.4994625 0.527787 0.637863 0.5463092 0.742371 0.6316904 0.4994625 0.5463092 0.742371 0.5648825 0.8869653 0.7165814 0.7435467 0.5463092 0.742371 0.7165814 0.7435467 0.6316904 0.4994625 1 0.998551 0.979949 0 0.002883672 0.9942908 0.8837768 0.004399955 0.7011814 0.1894643 0.8447979 0.1674507 1.28e-4 1.61e-4 1.28e-4 0.998769 0.9885469 0.02127844 1.28e-4 0.998769 0.985105 1 0.9885469 0.02127844 0.3121649 0.1883777 0.7011814 0.1894643 0.4564524 0.1815165 0.8447979 0.1674507 1 0 0.8837768 0.004399955 0.9783704 0.6591799 0.02662897 0.6582151 0.8676183 0.9820548 0.6611717 0.366163 0.8447979 0.1674507 0.7011814 0.1894643 0.9783704 0.6591799 0.9920442 0.2549152 0.01135742 0.2776864 0.01135742 0.2776864 0.02662897 0.6582151 0.9783704 0.6591799 0.7739446 0.6835078 0.8601303 0.4786759 0.6880369 0.4459071 0.6880369 0.4459071 0.8601303 0.4786759 0.7542029 0.2441625 0.9855955 0.003375113 0.04249185 0.5912327 0.9908915 0.8083963 0.7542029 0.2441625 0.7762716 0.1658235 0.584745 0.24555 0.3687255 -1.15728e-4 0.2475669 0.002578914 0.04735296 0.2029689 0.1985638 0.1902035 0.3687255 -1.15728e-4 0.04735296 0.2029689 0.7542029 0.2441625 0.584745 0.24555 0.6880369 0.4459071 0.584745 0.24555 0.6316904 0.4994625 0.6880369 0.4459071 0.38611 0.490884 0.6316904 0.4994625 0.3544517 0.24555 0.6316904 0.4994625 0.38611 0.490884 0.4738717 0.6834648 0.6316904 0.4994625 0.584745 0.24555 0.3544517 0.24555 0.38611 0.490884 0.320041 0.7371585 0.4738717 0.6834648 0.480666 0.931586 0.4738717 0.6834648 0.320041 0.7371585 7.7e-5 0.19788 0.3121649 0.1883777 0.0599035 0.1805095 0.2370365 0.2542731 0.2815057 0.3489694 0.3121649 0.1883777 0.3121649 0.1883777 0.2815057 0.3489694 0.3827911 0.2459474 0.7011814 0.1894643 0.3121649 0.1883777 0.3827911 0.2459474 0.3121649 0.1883777 7.7e-5 0.19788 0.2370365 0.2542731 0.8042603 0.3259185 0.9852621 0.1287491 0.56325 0.113194 2.44e-4 0 2.44e-4 0.999601 0.997345 1 0.1443791 0.05370706 0.001160979 0.999754 0.997232 0.676588 0.56325 0.113194 0.563265 1.8e-5 0.4774079 7.38681e-6 0.50051 0.333171 0.8042603 0.3259185 0.56325 0.113194 0.50051 0.333171 0.56325 0.113194 0.4774079 7.38681e-6 0.997345 1 0.999535 1.4e-5 2.44e-4 0 0.001160979 0.999754 0.997414 1 0.997232 0.676588 7.7e-5 0.19788 8.4e-5 0.2431319 0.2370365 0.2542731 0.997458 9.6e-5 0.001081883 0 0.00167489 0.5181239 0.00167489 0.5181239 0.9989067 0.5290824 0.997458 9.6e-5 0.2370365 0.2542731 0.13335 0.3868638 0.2815057 0.3489694 0.00167489 0.5181239 0.001081883 0.999992 0.9989067 0.5290824 0.6249238 0.5002902 0.8042603 0.3259185 0.50051 0.333171 6.79e-4 1 0.998883 0.999925 0.9968734 0.5944849 0.001012086 0.4345646 6.79e-4 1 0.9968734 0.5944849 0.997501 0 0.1443791 0.05370706 0.997232 0.676588 0.6249238 0.5002902 0.50051 0.333171 0.50051 0.666857 0.7441526 0.2302317 0.546944 0.7208264 0.9999756 0.4787194 0.245551 0.3372031 0.4930245 0.003709375 0.245429 4.25226e-4 0.245551 0.3372031 0.490884 0.19348 0.4930245 0.003709375 0.490884 0.19348 0.7448996 0.2505263 0.4930245 0.003709375 0.7371953 0.3201977 0.490884 0.19348 0.490884 0.386114 0.7371953 0.3201977 0.7448996 0.2505263 0.490884 0.19348 0.245551 0.3372031 0.490884 0.386114 0.490884 0.19348 0.6835576 0.473948 0.7371953 0.3201977 0.490884 0.386114 0.490884 0.386114 0.4996587 0.631376 0.6835576 0.473948 0.4996587 0.631376 0.490884 0.386114 0.245551 0.3372031 0.4996587 0.631376 0.637923 0.527872 0.6835576 0.473948 0.245551 0.584745 0.4996587 0.631376 0.245551 0.3372031 0.4459779 0.6880536 0.4996587 0.631376 0.245551 0.584745 0.4996587 0.631376 0.74237 0.5464391 0.637923 0.527872 0.999766 0 0.334556 0.416045 0.982511 0.997559 0.481781 0.989705 0.595528 0.99114 0.4566355 0.8187575 0.334556 0.416045 0 1 0.982511 0.997559 0.7433153 0.7165828 0.8864811 0.5649108 0.74237 0.5464391 0.7004265 0.8106809 0.3126108 0.8120803 0.4566355 0.8187575 0.9835612 0.9756873 0.990324 0 1.27e-4 9.87e-4 0.3828092 0.75406 0.3126108 0.8120803 0.7004265 0.8106809 0.7004265 0.8106809 0.6616189 0.6343369 0.6324087 0.7467611 0.7004265 0.8106809 0.6324087 0.7467611 0.3828092 0.75406 0.7004265 0.8106809 0.8446756 0.832961 0.6616189 0.6343369 0.002891898 0.007451117 0.982197 1 1 2.97e-4 0.8446756 0.832961 0.7004265 0.8106809 0.883197 0.9957343 0.4996587 0.631376 0.7433153 0.7165828 0.74237 0.5464391 0.01140254 0.7225254 0.9945965 0.7441 0.9780529 0.3407567 0.02711027 0.3408914 0.01140254 0.7225254 0.9780529 0.3407567 0.500665 0.664716 0.1779294 0.7183164 0.4160351 1 0.4459779 0.6880536 0.478401 0.8601956 0.682366 0.7741778 0.500665 0.664716 0.4160351 1 0.7900628 1 0.500665 0.664716 0.7900628 1 0.70743 0.886823 0.9939878 0.1925448 0.005879998 0 0.04291021 0.4096607 0.9939878 0.1925448 0.992258 0 0.005879998 0 6.8e-5 9.85e-4 6.8e-5 1 0.993036 1 0.70743 0.886823 0.9884454 0.8706207 0.7151153 0.5006459 0.70743 0.886823 0.7151153 0.5006459 0.500665 0.664716 0.005054414 0.5030015 0.2241685 0.6098164 0.1224791 0.4981325 2.90985e-4 0.9938611 0.999588 0.999884 0.9999602 0.564675 2.90985e-4 0.9938611 0.9999602 0.564675 0.998714 0.002164483 0.50005 0.665242 0.003014564 0.6010237 0.3248567 0.9931498 0.998714 0.002164483 2.9e-4 2.81e-4 2.90985e-4 0.9938611 0.3645648 0.7959198 0.3671199 0.7460428 0.2146779 0.7400563 0.3671199 0.7460428 0.2241685 0.6098164 0.2146779 0.7400563 5.51356e-5 0.006163239 5.5e-5 1 1 0.999417 0.3248567 0.9931498 0.6729691 0.9932433 0.50005 0.665242 0.6326873 0.746065 0.3671199 0.7460428 0.3645648 0.7959198 0.999557 7.2e-4 5.51356e-5 0.006163239 1 0.999417 3.25e-4 0.999582 0.999668 1 0.9928936 0.01186496 0.2241685 0.6098164 0.005054414 0.5030015 0.2146779 0.7400563 0.2146779 0.7400563 0.04752391 0.7974358 0.3645648 0.7959198 0.2146779 0.7400563 1.1e-5 0.749691 0.04752391 0.7974358 0.993036 1 1 0 6.8e-5 9.85e-4 3.4178e-4 0.9921248 0.992367 1 0.998829 0.5415947 0.1224791 0.4981325 0.1029635 0.3927684 0.005054414 0.5030015 3.282e-4 0.009168028 3.25e-4 0.999582 0.9928936 0.01186496 0.1989009 0.8100869 0.3645648 0.7959198 0.04752391 0.7974358 0.9989697 0.3685644 1 4.03e-4 0.001026988 0 0.9989697 0.3685644 0.001026988 0 0.00158596 0.500048 0.00158596 0.500048 0.001026988 1 0.997817 0.797641 0.997817 0.797641 0.9989697 0.3685644 0.00158596 0.500048 0.3925489 0.9231415 0.1657314 0.7761508 0.2022773 0.9868394 0.9928628 0.003020286 0 1 0.998298 0.998638 0.2022773 0.9868394 0.1657314 0.7761508 0.07712125 0.7929205 0.04752391 0.7974358 0.3688279 1.000159 0.1989009 0.8100869 0.04752391 0.7974358 0.247532 0.99742 0.3688279 1.000159 0.03067493 0.5847588 0.1657314 0.7761508 0.2449432 0.7546673 0.5846828 0.03045809 0.3065232 0.006466269 0.355266 0.245551 0.006620466 0.3066608 0.03067493 0.5847588 0.245551 0.3372031 0.2449432 0.7546673 0.245551 0.584745 0.03067493 0.5847588 0.03067493 0.5847588 0.245551 0.584745 0.245551 0.3372031 0.193476 0.490884 0.355266 0.245551 0.003507196 0.4927843 0.355266 0.245551 2.07411e-4 0.2452313 0.003507196 0.4927843 2.07411e-4 0.2452313 0.355266 0.245551 0.3065232 0.006466269 0.3065232 0.006466269 0.004011929 3.23e-4 2.07411e-4 0.2452313 0.245429 4.25226e-4 5.79472e-6 0.474883 0.006620466 0.3066608 0.245429 4.25226e-4 0.006620466 0.3066608 0.245551 0.3372031 0.193476 0.490884 0.38611 0.490884 0.355266 0.245551 0.003507196 0.4927843 0.2505448 0.7447867 0.193476 0.490884 0.38611 0.490884 0.193476 0.490884 0.3199738 0.7371425 0.193476 0.490884 0.2505448 0.7447867 0.3199738 0.7371425 0.9399601 0.8198356 0.801917 0.98863 0.9147852 0.9885864 0.997381 0.002288997 0 0 0.9807276 0.9905863 0.9399601 0.8198356 0.9147852 0.9885864 0.999888 0.802363 0.99497 0 6.3e-4 0.004155993 6.3e-4 1 6.3e-4 1 1 0.999622 0.99497 0 0.999888 0.802363 0.6883019 0.8123196 0.9399601 0.8198356 0.3199738 0.7371425 0.2851984 0.9800444 0.479756 0.931948 0.479756 0.931948 0.4733717 0.6837944 0.3199738 0.7371425 0.38611 0.490884 0.3199738 0.7371425 0.4733717 0.6837944 0.5430241 0.8184715 0.518242 0.989647 0.6883019 0.8123196 0.5430241 0.8184715 0.404388 0.991059 0.518242 0.989647 0.4733717 0.6837944 0.527404 0.638173 0.6314148 0.4995887 0.6314148 0.4995887 0.38611 0.490884 0.4733717 0.6837944 0.98087 0.002220988 0.33535 0.584989 0.999729 1 0.98087 0.002220988 0 0 0.33535 0.584989 0.5458613 0.742371 0.5653514 0.8848572 0.7162186 0.7435057 0.527404 0.638173 0.5458613 0.742371 0.6314148 0.4995887 0.5458613 0.742371 0.7162186 0.7435057 0.6314148 0.4995887 1 0.9997 0.981849 0 0.002892732 0.9926422 0.1165393 0.9956068 0.2995237 0.8107032 0.1553504 0.8329958 1.5e-4 3.67e-4 1.5e-4 0.998098 0.9882386 0.02467989 1.5e-4 0.998098 0.984603 1 0.9882386 0.02467989 0.9573023 0.0217927 0.003412246 0.9916213 0.9807946 0.9960496 0.38611 0.490884 0.6314148 0.4995887 0.355266 0.245551 0.003507196 0.4927843 0.01412755 0.7450253 0.2505448 0.7447867 0.6314148 0.4995887 0.584745 0.245551 0.355266 0.245551 0.355266 0.245551 0.584745 0.245551 0.5846828 0.03045809 0.688585 0.04944497 0.5846828 0.03045809 0.584745 0.245551 0.03067493 0.5847588 0.04965597 0.688639 0.1657314 0.7761508 0.7770023 0.1647486 0.688585 0.04944497 0.584745 0.245551 0.04965597 0.688639 0.07712125 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2.96e-4 0.999061 0.9973229 0.4644154 0.4781705 0.9940918 0.9833247 0.9794396 0.7662219 0.7129596 0.989362 2.47e-4 4.74e-4 0 4.74e-4 0.999984 2.96e-4 0.999061 0.987535 1 0.9973229 0.4644154 0.6616189 0.6343369 0.5280391 0.6116862 0.6324087 0.7467611 0.9966928 0.4067059 0.999204 0 6.64e-4 6.7e-5 0.3828092 0.75406 0.28125 0.6507849 0.3126108 0.8120803 0.9966928 0.4067059 6.64e-4 6.7e-5 9.98342e-4 0.5641645 9.98342e-4 0.5641645 1 0.999916 0.9966928 0.4067059 0.1334707 0.6132772 0.28125 0.6507849 0.1475296 0.5001134 0.03458338 0.4999312 0.1334707 0.6132772 0.1475296 0.5001134 9.98342e-4 0.5641645 6.64e-4 1 1 0.999916 4.74e-4 0.999984 0.97611 0.999999 0.989362 2.47e-4 0.883197 0.9957343 0.999962 1 0.8446756 0.832961 1.27e-4 9.87e-4 1.27e-4 0.999479 0.9835612 0.9756873 0.3126108 0.8120803 0.481781 0.989705 0.4566355 0.8187575 0.9821444 0.005074501 0.003280699 0.01292234 0.9576196 0.9783717 3.01e-4 5.83e-4 3.01e-4 0.999959 0.995858 0.999995 0.995858 0.999995 0.999988 0 3.01e-4 5.83e-4 0.06025779 0.8199543 0.3126108 0.8120803 1.12e-4 0.802359 0.9793401 0.009423136 0 1 0.996531 0.998039 0.08526921 0.9886214 0.1981419 0.988686 0.06025779 0.8199543 0 0 0.999883 1 0.992983 6.7e-4 1.12e-4 0.802359 8.4e-5 0.896684 0.08526921 0.9886214 1.12e-4 0.802359 0.08526921 0.9886214 0.06025779 0.8199543 0.7371953 0.3201977 0.9316 0.480769 0.9801825 0.2852322 0.7371953 0.3201977 0.6835576 0.473948 0.9316 0.480769 0.3827911 0.2459474 0.6328333 0.2532701 0.7011814 0.1894643 0.99336 0 6.8e-5 0 6.8e-5 0.998996 6.8e-5 0.998996 0.99998 1 0.99336 0 0.001027882 1 1 0.999656 0.9989857 0.6330083 1 0.002258956 0 0 0.9901731 0.9957103 0.7929107 0.07700753 0.7762716 0.1658235 0.9850389 0.2083767 0.9522535 0.2026133 0.6310744 -1.19211e-4 0.8016672 0.1898492 0.03063631 0.5847546 0.245551 0.584745 0.245551 0.3358197 0.2463593 0.7563049 0.245551 0.584745 0.03063631 0.5847546 0.006389081 0.3020876 0.03063631 0.5847546 0.245551 0.3358197 0.5846627 0.03049337 0.3019421 0.006290614 0.3544517 0.24555 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0.436438 1.1e-5 0.436453 0.113187 0 0 0.999169 1 0.996623 0.002492964 0.901858 0.2306268 0.9893957 0.2119942 0.7448727 0.2515684 0.2450211 4.32501e-4 0.006389081 0.3020876 0.245551 0.3358197 0.245551 0.3358197 0.492964 0.003706812 0.2450211 4.32501e-4 0.2450211 4.32501e-4 3.3307e-6 0.404699 0.006389081 0.3020876 0.496267 0.4605675 0.9536411 0.4090647 0.744305 0.2275645 0.0279302 0.7291854 0.094657 0.869099 0.206569 0.948539 0.9536411 0.4090647 0.496267 0.4605675 1 0.994001 0.3019421 0.006290614 0.004011929 3.14e-4 2.06742e-4 0.2453821 0.7448727 0.2515684 0.9893957 0.2119942 0.7449342 0.01430815 0.9893957 0.2119942 1 0.02497798 0.7449342 0.01430815 0.996925 0.168437 0.993007 9e-6 0.5244402 5.33675e-6 0.04661977 0.7466788 0.3867251 0.5721248 0.2351114 0.1449896 0.6883019 0.8123196 0.999888 0.802363 0.7630839 0.7457944 0.50129 0.666856 0.1953334 0.6743742 0.436453 0.886822 0.9147852 0.9885864 0.999916 0.896632 0.999888 0.802363 0.50129 0.666856 0.436453 0.886822 0.5244001 0.999998 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0 0.1301 5e-6 0.07518398 1.2e-5 0.07522797 0 0.1301 1.2e-5 0.07522797 0.02282196 0.0754981 0.468406 0.834003 0.468401 0.834009 0.4684 0.834009 0.468406 0.834003 0.468401 0.834009 0.468401 0.834009 0.468406 0.834003 0.468402 0.834008 0.468401 0.834009 0.468417 0.833983 0.468406 0.834003 0.4684 0.834009 0.468459 0.833903 0.468417 0.833983 0.4684 0.834009 0.549658 0.6799533 0.468459 0.833903 0.4684 0.834009 4.15333e-4 0.02055162 0.4594639 0.009007036 0.3660457 0.8602811 0.4594639 0.009007036 0.6729339 0.7579843 0.3660457 0.8602811 0.3660457 0.8602811 2.31491e-5 0.9452089 4.15333e-4 0.02055162 0.1152362 0.6857599 0 0 0.3110705 0.2561152 0.02986812 0.8683553 0.03226697 0.799482 0.05560421 0.7972757 0.698247 0.03216499 0.699177 0.005189895 0.8823049 0.008208155 0.350829 10e-7 0.670333 0 0.3715232 1 0.670333 0 0.7686002 1 0.3715232 1 0.8753451 0.9895678 0.6217188 0.4846932 0.9482958 0.6148145 0.6217188 0.4846932 0.8753451 0.9895678 0.5261342 0.8854182 0.9198805 0.7130609 0.9955098 0.9982625 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- </instance_material>
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- </instance_material>
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- </instance_geometry>
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- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
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diff --git a/robots/go2_description/dae/foot.dae b/robots/go2_description/dae/foot.dae
deleted file mode 100644
index 6a81f37..0000000
--- a/robots/go2_description/dae/foot.dae
+++ /dev/null
@@ -1,89 +0,0 @@
-<?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">
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- <author>Blender User</author>
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- </contributor>
- <created>2024-10-10T11:50:15</created>
- <modified>2024-10-10T11:50:15</modified>
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- </asset>
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- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
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- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_images/>
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- <instance_effect url="#黑色足端_007-effect"/>
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269 1377 270 1377 377 1378 426 1378 372 1378 372 1379 426 1379 427 1379 372 1380 427 1380 371 1380 425 1381 362 1381 238 1381 238 1382 362 1382 361 1382 75 1383 158 1383 431 1383 348 1384 273 1384 370 1384 348 1385 369 1386 275 1387 275 1388 369 1389 347 1390 275 1391 274 1392 348 1393 69 1394 432 1395 368 1396 368 1397 432 1397 271 1397 271 1398 432 1398 351 1398 352 1399 351 1399 367 1399 351 1400 432 1401 367 1402 433 1403 419 1403 434 1403 434 1404 419 1404 435 1404 434 1405 435 1405 428 1405 428 1406 435 1406 424 1406 428 1407 424 1408 429 1409 436 1410 437 1411 423 1412 423 1413 437 1414 61 1415 423 1416 61 1417 75 1418 437 1419 422 1419 61 1419 423 1420 431 1420 127 1420 318 1421 157 1421 431 1421 431 1422 157 1423 127 1424 158 1425 318 1425 431 1425 75 1426 431 1426 423 1426 69 1427 422 1427 437 1427 438 1428 421 1429 63 1430 63 1431 421 1431 64 1431 433 1432 427 1432 419 1432 419 1433 427 1433 420 1433 419 1434 420 1434 439 1434 439 1435 438 1436 437 1437 437 1438 438 1438 69 1438 420 1439 421 1439 439 1439 439 1440 421 1440 438 1440 69 1441 438 1441 63 1441 69 1442 63 1442 432 1442 432 1443 63 1443 367 1443 127 1444 128 1444 429 1444 127 1445 429 1445 423 1445 423 1446 429 1446 424 1446 424 1447 435 1448 436 1449 435 1450 419 1451 436 1451 436 1452 419 1452 439 1452 436 1453 439 1454 437 1455 353 1456 270 1456 64 1456 353 1457 64 1457 377 1457 377 1458 64 1458 421 1458 377 1459 421 1459 426 1459 426 1460 421 1460 420 1460 426 1461 420 1461 427 1461 371 1462 427 1462 433 1462 362 1463 425 1463 128 1463 128 1464 430 1464 429 1464 61 1465 422 1465 348 1465 61 1466 348 1466 370 1466 348 1467 422 1468 369 1469 440 1470 441 1470 448 1470 136 1471 135 1472 442 1473 442 1474 135 1475 2 1476 374 1477 440 1477 444 1477 239 1478 240 1478 242 1478 425 1479 238 1479 239 1479 440 1480 374 1480 441 1480 441 1481 374 1482 371 1483 444 1484 378 1484 374 1484 346 1485 279 1485 281 1485 346 1486 276 1487 277 1488 445 1489 1 1489 276 1489 446 1490 2 1490 1 1490 2 1491 135 1491 173 1491 173 1492 135 1492 174 1492 287 1493 289 1494 379 1495 287 1496 379 1496 383 1496 287 1497 383 1498 10 1498 8 1499 10 1499 447 1499 284 1500 345 1501 286 1502 284 1503 286 1504 47 1505 47 1506 286 1506 8 1506 47 1507 8 1507 447 1507 443 1508 49 1508 447 1508 447 1509 49 1510 47 1511 284 1512 283 1512 345 1512 345 1513 285 1514 286 1515 445 1516 282 1516 49 1516 282 1517 445 1518 346 1519 281 1520 282 1521 346 1522 450 1523 448 1524 449 1525 429 1526 430 1526 442 1526 429 1527 442 1527 428 1527 428 1528 442 1529 449 1530 428 1531 449 1531 434 1531 446 1532 443 1533 450 1534 450 1535 443 1535 451 1535 451 1536 443 1536 447 1536 444 1537 447 1537 10 1537 444 1538 10 1538 378 1538 378 1539 10 1539 383 1539 276 1540 346 1541 445 1542 445 1543 49 1543 443 1543 445 1544 443 1544 1 1544 1 1545 443 1545 446 1545 425 1546 239 1546 242 1546 425 1547 242 1548 136 1549 425 1550 136 1551 128 1552 128 1553 136 1553 430 1553 173 1554 340 1554 172 1554 174 1555 176 1555 340 1555 174 1556 340 1557 173 1558 2 1559 446 1559 442 1559 433 1560 434 1560 448 1560 448 1561 441 1561 433 1561 444 1562 440 1562 451 1562 451 1563 448 1564 450 1565 451 1566 440 1567 448 1568 446 1569 450 1569 449 1569 446 1570 449 1571 442 1572 441 1573 371 1573 433 1573 449 1574 448 1574 434 1574 430 1575 136 1575 442 1575 451 1576 447 1577 444 1578</p>
- </triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="FL_foot0901" name="FL_foot0901" type="NODE">
- <matrix sid="transform">1 0 0 2.5e-4 0 -2.8213e-7 -1 0 0 1 -2.8213e-7 0.0039 0 0 0 1</matrix>
- <instance_geometry url="#FL_foot_001-mesh" name="FL_foot0901">
- <bind_material>
- <technique_common>
- <instance_material symbol="黑色足端_007-material" target="#黑色足端_007-material"/>
- </technique_common>
- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
diff --git a/robots/go2_description/dae/hip.dae b/robots/go2_description/dae/hip.dae
deleted file mode 100644
index 96f9430..0000000
--- a/robots/go2_description/dae/hip.dae
+++ /dev/null
@@ -1,140 +0,0 @@
-<?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 4.2.2 LTS commit date:2024-09-23, commit time:12:18, hash:c03d7d98a413</authoring_tool>
- </contributor>
- <created>2024-10-10T11:51:05</created>
- <modified>2024-10-10T11:51:05</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_effects>
- <effect id="深色橡胶_002-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.6717055 0.6924257 0.7742702 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <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">0.9 0.95 0.95 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_images/>
- <library_materials>
- <material id="深色橡胶_002-material" name="深色橡胶.002">
- <instance_effect url="#深色橡胶_002-effect"/>
- </material>
- <material id="Material_001-material" name="Material.001">
- <instance_effect url="#Material_001-effect"/>
- </material>
- </library_materials>
- <library_geometries>
- <geometry id="hip_008-mesh" name="hip.008">
- <mesh>
- <source id="hip_008-mesh-positions">
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- </triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
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- <matrix sid="transform">1 0 0 0 0 -2.8213e-7 -1 0 0 1 -2.8213e-7 0 0 0 0 1</matrix>
- <instance_geometry url="#hip_008-mesh" name="hipFL0831">
- <bind_material>
- <technique_common>
- <instance_material symbol="深色橡胶_002-material" target="#深色橡胶_002-material">
- <bind_vertex_input semantic="hip_008-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
- </instance_material>
- <instance_material symbol="Material_001-material" target="#Material_001-material">
- <bind_vertex_input semantic="hip_008-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
- </instance_material>
- </technique_common>
- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
diff --git a/robots/go2_description/dae/thigh.dae b/robots/go2_description/dae/thigh.dae
deleted file mode 100644
index ff5e030..0000000
--- a/robots/go2_description/dae/thigh.dae
+++ /dev/null
@@ -1,136 +0,0 @@
-<?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 4.2.2 LTS commit date:2024-09-23, commit time:12:18, hash:c03d7d98a413</authoring_tool>
- </contributor>
- <created>2024-10-10T11:52:20</created>
- <modified>2024-10-10T11:52:20</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_effects>
- <effect id="深色橡胶_003-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.6717055 0.6924257 0.7742702 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- <effect id="Material_009-effect">
- <profile_COMMON>
- <technique sid="common">
- <lambert>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <diffuse>
- <color sid="diffuse">0.9 0.95 0.95 1</color>
- </diffuse>
- <reflectivity>
- <float sid="specular">0.5</float>
- </reflectivity>
- <index_of_refraction>
- <float sid="ior">1.5</float>
- </index_of_refraction>
- </lambert>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_images/>
- <library_materials>
- <material id="深色橡胶_003-material" name="深色橡胶.003">
- <instance_effect url="#深色橡胶_003-effect"/>
- </material>
- <material id="Material_009-material" name="Material.009">
- <instance_effect url="#Material_009-effect"/>
- </material>
- </library_materials>
- <library_geometries>
- <geometry id="thigh_001-mesh" name="thigh.001">
- <mesh>
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diff --git a/robots/go2_description/dae/thigh_mirror.dae b/robots/go2_description/dae/thigh_mirror.dae
deleted file mode 100644
index bfcb3fe..0000000
--- a/robots/go2_description/dae/thigh_mirror.dae
+++ /dev/null
@@ -1,136 +0,0 @@
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4393 2026 989 4394 2034 1000 4395 2033 997 4396 2018 1001 4397 2035 1002 4398 2033 997 4399 2031 996 4400 2033 997 4401 2035 1002 4402 2018 1001 4403 2031 996 4404 2036 1003 4405 2035 1002 4406 2036 1003 4407 2031 996 4408 2037 1004 4409 2037 1004 4410 2019 1005 4411 2036 1003 4412 2039 1006 4413 2038 1007 4414 2037 1004 4415 2037 1004 4416 2040 1008 4417 2039 1006 4418 2037 1004 4419 2041 1009 4420 2040 1008 4421 2032 998 4422 2041 1009 4423 2037 1004 4424 2037 1004 4425 2031 996 4426 2032 998 4427 2042 999 4428 2028 994 4429 2030 995 4430 2049 1010 4431 2042 1010 4432 2043 1010 4433 2042 1011 4434 2030 1011 4435 2043 1011 4436 2044 1012 4437 2045 1012 4438 2043 1012 4439 2129 1013 4440 2047 1013 4441 2043 1013 4442 2045 1014 4443 2049 1014 4444 2043 1014 4445 2046 1015 4446 2048 1015 4447 2043 1015 4448 2030 1016 4449 2129 1016 4450 2043 1016 4451 2043 1017 4452 2051 1017 4453 2003 1017 4454 2043 1018 4455 2003 1018 4456 2046 1018 4457 2048 1019 4458 2044 1019 4459 2043 1019 4460 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1029 4928 2017 1128 4929 2056 1026 4930 2057 1029 4931 2017 1128 4932 2054 1024 4933 2056 1026 4934 2017 1128 4935 2023 975 4936 2054 1024 4937 2054 1024 4938 2015 974 4939 2052 1021 4940 2050 973 4941 2052 1021 4942 2015 974 4943 2003 1129 4944 2050 973 4945 2014 972 4946 2003 1129 4947 2014 972 4948 2132 1130 4949 2012 968 4950 2132 1130 4951 2014 972 4952 2012 968 4953 2011 969 4954 2132 1130 4955 2133 962 4956 2003 1129 4957 2132 1130 4958 2133 962 4959 2132 1130 4960 2134 963 4961 2134 963 4962 2132 1130 4963 2011 969 4964 2011 969 4965 2008 964 4966 2134 963 4967 2051 1022 4968 2052 1021 4969 2050 973 4970 2023 975 4971 2015 974 4972 2054 1024 4973 2052 1021 4974 2053 1023 4975 2054 1024 4976 2057 1029 4977 2058 1028 4978 2059 1032 4979 2043 1027 4980 2047 1030 4981 2058 1028 4982 2043 1027 4983 2055 1025 4984 2053 1023 4985 2051 1022 4986 2043 1027 4987 2053 1023 4988 2041 1009 4989 2032 998 4990 2049 1131 4991 2040 1008 4992 2049 1131 4993 2045 1132 4994 2040 1008 4995 2041 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5130 2146 961 5131 2007 960 5132 2146 961 5133 2147 1154 5134 2148 959 5135 2004 1155 5136 2005 957 5137 2148 959 5138 2004 1155 5139 2148 959 5140 2154 1156 5141 2147 1154 5142 2154 1156 5143 2148 959 5144 2147 1154 5145 2149 1157 5146 2154 1156 5147 2150 1158 5148 2149 1157 5149 2147 1154 5150 2150 1158 5151 2147 1154 5152 2146 961 5153 2010 1153 5154 2150 1158 5155 2146 961 5156 1997 1159 5157 2150 1159 5158 2010 1159 5159 1997 1160 5160 2151 1160 5161 2150 1160 5162 1997 1161 5163 2152 1161 5164 2151 1161 5165 2151 1162 5166 2156 1163 5167 2149 1157 5168 2154 1156 5169 2155 1164 5170 2004 1155 5171 2004 1165 5172 2155 1165 5173 1995 1165 5174 2155 1166 5175 1991 1166 5176 1995 1166 5177 2155 1164 5178 2154 1156 5179 2153 1167 5180 2155 1164 5181 2153 1167 5182 2163 1168 5183 2156 1163 5184 2163 1168 5185 2153 1167 5186 2149 1157 5187 2156 1163 5188 2153 1167 5189 2151 1162 5190 2157 1169 5191 2156 1163 5192 2156 1163 5193 2192 1170 5194 2158 1171 5195 2156 1163 5196 2158 1171 5197 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5264 2170 1186 5265 2169 1188 5266 2174 1191 5267 2175 1192 5268 2176 1193 5269 2173 1190 5270 2176 1193 5271 2200 1194 5272 2173 1190 5273 2176 1193 5274 2177 1195 5275 2200 1194 5276 2176 1193 5277 2178 1196 5278 2177 1195 5279 2177 1195 5280 2178 1196 5281 2179 1197 5282 2180 1198 5283 2177 1195 5284 2179 1197 5285 2181 1199 5286 2182 1200 5287 2201 1201 5288 2181 1199 5289 2183 1202 5290 2182 1200 5291 2181 1203 5292 2179 1204 5293 2174 1204 5294 2188 1205 5295 2183 1205 5296 2174 1205 5297 2187 1206 5298 2184 1206 5299 2174 1206 5300 2183 1207 5301 2181 1207 5302 2174 1207 5303 2179 1208 5304 2178 1209 5305 2174 1208 5306 2185 1210 5307 2188 1210 5308 2174 1210 5309 2178 1211 5310 2176 1212 5311 2174 1212 5312 2176 1213 5313 2175 1213 5314 2174 1213 5315 2184 1214 5316 2185 1214 5317 2174 1214 5318 2184 1215 5319 2187 1216 5320 2186 1217 5321 2184 1215 5322 2160 1172 5323 2185 1218 5324 2186 1217 5325 2160 1172 5326 2184 1215 5327 2160 1172 5328 2158 1171 5329 2185 1218 5330 2186 1217 5331 2168 1183 5332 2161 1175 5333 2160 1172 5334 2186 1217 5335 2161 1175 5336 2186 1217 5337 2187 1216 5338 2168 1183 5339 2169 1188 5340 2168 1183 5341 2187 1216 5342 2187 1216 5343 2174 1191 5344 2169 1188 5345 2188 1219 5346 2185 1218 5347 2189 1220 5348 2189 1220 5349 2190 1221 5350 2183 1202 5351 2189 1220 5352 2185 1218 5353 2158 1171 5354 2183 1202 5355 2188 1219 5356 2189 1220 5357 2216 1174 5358 2189 1220 5359 2158 1171 5360 2216 1174 5361 2190 1221 5362 2189 1220 5363 2216 1174 5364 2193 1222 5365 2190 1221 5366 2193 1222 5367 2192 1170 5368 2191 1223 5369 2202 1224 5370 2194 1225 5371 2195 1226 5372 1984 1227 5373 2196 1228 5374 2195 1226 5375 1984 1227 5376 2214 1229 5377 2196 1228 5378 2196 1228 5379 2198 1230 5380 2197 1231 5381 2197 1231 5382 2202 1224 5383 2196 1228 5384 2196 1228 5385 2205 1232 5386 2198 1230 5387 2202 1224 5388 2195 1226 5389 2196 1228 5390 2198 1230 5391 2199 1233 5392 2197 1231 5393 2177 1195 5394 2199 1233 5395 2200 1194 5396 2199 1233 5397 2173 1190 5398 2200 1194 5399 2197 1231 5400 2199 1233 5401 2177 1195 5402 2202 1224 5403 2180 1198 5404 2201 1201 5405 2177 1195 5406 2180 1198 5407 2202 1224 5408 2197 1231 5409 2177 1195 5410 2202 1224 5411 2201 1201 5412 2194 1225 5413 2202 1224 5414 2201 1201 5415 2180 1198 5416 2179 1197 5417 2194 1225 5418 2201 1201 5419 2182 1200 5420 2193 1222 5421 2182 1200 5422 2190 1221 5423 2193 1222 5424 2194 1225 5425 2182 1200 5426 2199 1233 5427 2172 1189 5428 2173 1190 5429 2172 1189 5430 2198 1230 5431 2166 1184 5432 2165 1234 5433 2166 1184 5434 2198 1230 5435 2203 1235 5436 2165 1234 5437 2198 1230 5438 2203 1236 5439 2208 1237 5440 2204 1237 5441 2165 1238 5442 2203 1239 5443 2204 1238 5444 2203 1235 5445 2205 1232 5446 2208 1240 5447 2205 1232 5448 2206 1241 5449 2208 1240 5450 2207 1242 5451 2208 1240 5452 2206 1241 5453 2208 1240 5454 2207 1242 5455 2209 1243 5456 1977 1244 5457 2209 1244 5458 2207 1244 5459 1977 1245 5460 2210 1245 5461 2209 1245 5462 1980 929 5463 1981 931 5464 2210 1246 5465 2210 1246 5466 1981 931 5467 2211 1247 5468 2212 1248 5469 2211 1247 5470 1982 932 5471 1982 932 5472 2211 1247 5473 1981 931 5474 2210 1246 5475 2211 1247 5476 2209 1243 5477 2208 1240 5478 2209 1243 5479 2211 1247 5480 2208 1249 5481 2211 1249 5482 2204 1249 5483 2212 1248 5484 2204 1250 5485 2211 1247 5486 2212 1248 5487 1982 932 5488 2204 1250 5489 1987 938 5490 1993 942 5491 1988 939 5492 1987 938 5493 1989 1251 5494 1993 942 5495 2165 1252 5496 2204 1252 5497 1988 1252 5498 1982 932 5499 1988 939 5500 2204 1250 5501 2213 1253 5502 2207 1242 5503 2206 1241 5504 2213 1253 5505 1977 925 5506 2207 1242 5507 2214 1229 5508 2215 926 5509 2213 1253 5510 1977 925 5511 2213 1253 5512 2215 926 5513 2214 1229 5514 2213 1253 5515 2196 1228 5516 2196 1228 5517 2213 1253 5518 2206 1241 5519 2196 1228 5520 2206 1241 5521 2205 1232 5522 2203 1235 5523 2198 1230 5524 2205 1232 5525 2198 1230 5526 2172 1189 5527 2199 1233 5528 1984 1227 5529 2195 1226 5530 2191 1223 5531 2157 1169 5532 1984 1227 5533 2191 1223 5534 2157 1169 5535 2191 1223 5536 2192 1170 5537 2193 1222 5538 2216 1174 5539 2192 1170 5540 2157 1169 5541 2192 1170 5542 2156 1163 5543 2219 1254 5544 2157 1254 5545 2151 1254 5546 2152 1255 5547 2219 1255 5548 2151 1255 5549 2217 1256 5550 2219 1257 5551 2152 1258 5552 2218 949 5553 2217 1256 5554 2152 1258 5555 2152 1258 5556 1996 947 5557 2218 949 5558 1987 938 5559 1986 937 5560 2217 1256 5561 1989 1251 5562 1987 938 5563 2217 1256 5564 2217 1256 5565 1986 937 5566 2219 1257 5567 2219 1259 5568 1984 1259 5569 2157 1259 5570 2219 1260 5571 1985 1260 5572 1984 1260 5573 1983 933 5574 1985 934 5575 2219 1257 5576 1986 937 5577 1983 933 5578 2219 1257 5579 2217 1256 5580 1990 940 5581 1989 1251 5582 1990 940 5583 2217 1256 5584 2218 949 5585 2192 1170 5586 2216 1174 5587 2159 1173 5588 2191 1223 5589 2195 1226 5590 2193 1222 5591 2195 1226 5592 2194 1225 5593 2193 1222 5594 2183 1202 5595 2190 1221 5596 2182 1200 5597 2201 1201 5598 2179 1197 5599 2181 1199 5600 2171 1187 5601 2167 1185 5602 2169 1188 5603 2167 1185 5604 2168 1183 5605 2169 1188 5606 2164 1178 5607 2162 1177 5608 2166 1184 5609 2165 1234 5610 2164 1178 5611 2166 1184 5612 1989 1251 5613 1990 940 5614 1993 942 5615 2161 1175 5616 2163 1168 5617 2156 1163 5618 2149 1157 5619 2153 1167 5620 2154 1156 5621 2149 1157 5622 2150 1158 5623 2151 1162 5624 1996 947 5625 2152 1258 5626 1997 950 5627 2146 961 5628 2148 959 5629 2006 958 5630 2006 958 5631 2134 963 5632 2007 960 5633 2002 946 5634 2001 951 5635 1995 945 5636 1992 943 5637 1990 940 5638 2218 949 5639 1978 1261 5640 2215 1261 5641 2214 1261 5642 1978 930 5643 1980 929 5644 2210 1246 5645</p>
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17754 2334 3803 17755 3007 4609 17756 2339 3807 17757 3007 4609 17758 2334 3803 17759 2482 3978 17760 2333 3799 17761 2334 3803 17762 2458 3954 17763 2464 3961 17764 2455 3951 17765 2452 3947 17766 2454 3949 17767 2449 3946 17768 2433 3923 17769 2440 3936 17770 2443 3939 17771 2434 3924 17772 2440 3936 17773 2433 3923 17774 2419 4657 17775 2421 3905 17776 2347 3907 17777 2413 3895 17778 2419 4657 17779 2412 3894 17780 2417 3899 17781 2419 3901 17782 2413 3897 17783 2419 4657 17784 2347 3907 17785 2412 3894 17786 2403 3882 17787 2401 3876 17788 2410 3889 17789 2403 3882 17790 2410 3889 17791 2406 3883 17792 3046 4658 17793 2408 3884 17794 2409 4659 17795 3046 4658 17796 2407 3881 17797 2408 3884 17798 2405 3880 17799 3046 4658 17800 3047 4660 17801 3046 4658 17802 2405 3880 17803 2407 3881 17804 3046 4658 17805 3048 4661 17806 3047 4660 17807 3048 4661 17808 3049 4662 17809 3047 4660 17810 3049 4662 17811 3050 4663 17812 3052 4664 17813 3049 4662 17814 3052 4664 17815 3051 4665 17816 3047 4660 17817 3049 4662 17818 3051 4665 17819 3050 4663 17820 3053 4666 17821 3052 4664 17822 3053 4666 17823 3054 4667 17824 3052 4664 17825 3052 4664 17826 3054 4667 17827 2389 3865 17828 2387 3861 17829 2389 3865 17830 3054 4667 17831 3052 4664 17832 2389 3865 17833 2396 3871 17834 2396 3871 17835 2389 3865 17836 2390 3864 17837 3051 4665 17838 3052 4664 17839 2396 3871 17840 3051 4665 17841 2396 3871 17842 2395 3870 17843 2404 3879 17844 3051 4665 17845 2395 3870 17846 2404 3879 17847 2395 3870 17848 2400 3875 17849 2405 3880 17850 3055 4668 17851 2404 3879 17852 3055 4668 17853 3051 4665 17854 2404 3879 17855 2405 3880 17856 3047 4660 17857 3055 4668 17858 3047 4660 17859 3051 4665 17860 3055 4668 17861 3056 4669 17862 2387 3861 17863 3054 4667 17864 3053 4666 17865 3057 4670 17866 3054 4667 17867 3056 4669 17868 3054 4667 17869 3057 4670 17870 3058 4671 17871 3057 4670 17872 3053 4666 17873 2377 3851 17874 3056 4669 17875 3057 4670 17876 3059 4672 17877 3060 4673 17878 3057 4670 17879 3059 4672 17880 3057 4670 17881 3058 4671 17882 2377 3851 17883 3057 4670 17884 3060 4673 17885 2366 3841 17886 2377 3851 17887 3060 4673 17888 3061 4674 17889 3060 4673 17890 3059 4672 17891 3062 4675 17892 3061 4674 17893 3059 4672 17894 2357 3832 17895 3061 4674 17896 3062 4675 17897 2360 3834 17898 3060 4673 17899 3061 4674 17900 2357 3832 17901 2360 3834 17902 3061 4674 17903 2357 3832 17904 3063 4676 17905 2356 3830 17906 3063 4676 17907 2357 3832 17908 3062 4675 17909 3064 4677 17910 2356 3830 17911 3063 4676 17912 3064 4677 17913 3063 4676 17914 3065 4678 17915 3063 4676 17916 3062 4675 17917 3065 4678 17918 2354 4679 17919 2356 4679 17920 3064 4679 17921 3064 4680 17922 3066 4680 17923 2354 4680 17924 2350 4681 17925 2354 4681 17926 3066 4681 17927 3067 4682 17928 2350 4682 17929 3066 4682 17930 3065 4678 17931 3066 4683 17932 3064 4677 17933 3066 4683 17934 3065 4678 17935 3068 4684 17936 3065 4678 17937 3059 4672 17938 3068 4684 17939 3068 4684 17940 3059 4672 17941 3058 4671 17942 3068 4684 17943 3058 4671 17944 3069 4685 17945 3069 4685 17946 3058 4671 17947 3050 4663 17948 3058 4671 17949 3053 4666 17950 3050 4663 17951 3069 4685 17952 3050 4663 17953 3049 4662 17954 3048 4661 17955 3069 4685 17956 3049 4662 17957 3068 4684 17958 3069 4685 17959 3048 4661 17960 3065 4678 17961 3062 4675 17962 3059 4672 17963 3068 4684 17964 3070 4686 17965 3066 4683 17966 3070 4686 17967 3068 4684 17968 3048 4661 17969 3071 4687 17970 3070 4686 17971 3048 4661 17972 2351 4688 17973 3066 4689 17974 3071 4690 17975 2409 4659 17976 3071 4691 17977 3046 4658 17978 3071 4687 17979 3066 4683 17980 3070 4686 17981 3046 4658 17982 3071 4687 17983 3048 4661 17984 2351 4692 17985 3071 4692 17986 2409 4692 17987 3066 4693 17988 2351 4693 17989 3067 4693 17990 2350 3823 17991 3067 4694 17992 2351 3824 17993 2366 3841 17994 3060 4673 17995 2360 3834 17996 3056 4669 17997 2376 3852 17998 2384 3859 17999 2377 3851 18000 2376 3852 18001 3056 4669 18002 3056 4669 18003 2384 3859 18004 2387 3861 18005 2380 3855 18006 2381 3857 18007 2386 3863 18008 2384 3859 18009 2376 3852 18010 2378 3853 18011 2350 4695 18012 2353 4695 18013 2354 4695 18014 2329 3798 18015 2325 3794 18016 2324 3793 18017 2295 3761 18018 2306 3772 18019 2307 3774 18020 2297 3763 18021 2306 3772 18022 2295 3761 18023 2307 3774 18024 2292 3756 18025 2293 3758 18026 2295 3761 18027 2307 3774 18028 2294 3759 18029 2294 3759 18030 2307 3774 18031 2293 3758 18032 2299 3764 18033 2265 3730 18034 2263 3728 18035 2291 3757 18036 2290 3755 18037 2271 3737 18038 2288 3753 18039 2273 3738 18040 2271 3737 18041 2273 3738 18042 2288 3753 18043 2275 3740 18044 2277 3741 18045 2285 3749 18046 2278 3744 18047 2272 3736 18048 2270 3734 18049 2266 3732 18050 2270 3734 18051 2268 3733 18052 2266 3732 18053 2268 3733 18054 2269 3735 18055 2260 3725 18056 2259 3724 18057 2268 3733 18058 2260 3725 18059 2253 3714 18060 2255 3719 18061 2261 3726 18062 2251 3710 18063 2253 3714 18064 2261 3726 18065 2253 4696 18066 2221 4696 18067 2255 4696 18068 1706 3141 18069 1705 3139 18070 1698 3134 18071 1701 3133 18072 1872 3416 18073 1707 3415 18074</p>
- </triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="thigh_FR0815" name="thigh.FR0815" type="NODE">
- <matrix sid="transform">1 0 0 0 0 -2.8213e-7 -1 0 0 1 -2.8213e-7 0 0 0 0 1</matrix>
- <instance_geometry url="#thigh_003-mesh" name="thigh.FR0815">
- <bind_material>
- <technique_common>
- <instance_material symbol="深色橡胶_012-material" target="#深色橡胶_012-material">
- <bind_vertex_input semantic="thigh_003-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
- </instance_material>
- <instance_material symbol="Material_011-material" target="#Material_011-material">
- <bind_vertex_input semantic="thigh_003-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
- </instance_material>
- </technique_common>
- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
diff --git a/robots/go2_description/urdf/go2.urdf b/robots/go2_description/urdf/go2.urdf
index ca13c08..24148b7 100644
--- a/robots/go2_description/urdf/go2.urdf
+++ b/robots/go2_description/urdf/go2.urdf
@@ -26,8 +26,7 @@ Stephen Brawner (brawner@gmail.com)
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
- <mesh
- filename="package://example-robot-data/robots/go2_description/dae/base.dae" />
+ <mesh filename="package://example-robot-data/robots/go2_description/visuals/base.dae" />
</geometry>
<material
name="">
@@ -140,7 +139,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -207,7 +206,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
</geometry>
<material
name="">
@@ -269,12 +268,9 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
</geometry>
<material
name="">
@@ -413,7 +409,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/foot.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -463,7 +459,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="3.1415 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -530,7 +526,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh_mirror.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
</geometry>
<material
name="">
@@ -592,12 +588,9 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf_mirror.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
</geometry>
<material
name="">
@@ -736,7 +729,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/foot.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -786,7 +779,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 3.1415 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -853,7 +846,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/thigh.dae" />
</geometry>
<material
name="">
@@ -915,12 +908,9 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/calf.dae" />
</geometry>
<material
name="">
@@ -1059,7 +1049,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/foot.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
@@ -1109,7 +1099,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="3.1415 3.1415 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/hip.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/hip.dae" />
</geometry>
<material
name="">
@@ -1176,7 +1166,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/thigh_mirror.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/thigh_mirror.dae" />
</geometry>
<material
name="">
@@ -1238,12 +1228,9 @@ Stephen Brawner (brawner@gmail.com)
izz="3.29E-05" />
</inertial>
<visual>
- <origin
- xyz="0 0 0"
- rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/calf_mirror.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/calf_mirror.dae" />
</geometry>
<material
name="">
@@ -1382,7 +1369,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
- filename="package://example-robot-data/robots/go2_description/dae/foot.dae" />
+ filename="package://example-robot-data/robots/go2_description/visuals/foot.dae" />
</geometry>
<material
name="">
--
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