From cf729b521f21462ae80e3e57b15021e853fbd029 Mon Sep 17 00:00:00 2001
From: pfernbac <pierre.fernbach@gmail.com>
Date: Wed, 13 Feb 2019 21:02:15 +0100
Subject: [PATCH] move upward the trunk shape (0.05cm)
---
data/meshes/anymal_all_visual.dae | 152 +++++++++++++++---------------
data/meshes/anymal_trunk.stl | Bin 1084 -> 1084 bytes
2 files changed, 76 insertions(+), 76 deletions(-)
diff --git a/data/meshes/anymal_all_visual.dae b/data/meshes/anymal_all_visual.dae
index 0618b8c..6d74f96 100644
--- a/data/meshes/anymal_all_visual.dae
+++ b/data/meshes/anymal_all_visual.dae
@@ -5,8 +5,8 @@
<author>Blender User</author>
<authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
</contributor>
- <created>2019-02-13T20:56:51</created>
- <modified>2019-02-13T20:56:51</modified>
+ <created>2019-02-13T21:01:57</created>
+ <modified>2019-02-13T21:01:57</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
@@ -38,7 +38,7 @@
</technique>
</profile_COMMON>
</effect>
- <effect id="Material_002-effect">
+ <effect id="Material_002_001-effect">
<profile_COMMON>
<technique sid="common">
<phong>
@@ -52,7 +52,7 @@
<color sid="diffuse">0.00656375 0.64 0 1</color>
</diffuse>
<specular>
- <color sid="specular">3.23798e-4 0.25 0 1</color>
+ <color sid="specular">1.61899e-4 0.125 0 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
@@ -72,167 +72,167 @@
<material id="Material_001-material" name="Material_001">
<instance_effect url="#Material_001-effect"/>
</material>
- <material id="Material_002-material" name="Material_002">
- <instance_effect url="#Material_002-effect"/>
+ <material id="Material_002_001-material" name="Material_002_001">
+ <instance_effect url="#Material_002_001-effect"/>
</material>
</library_materials>
<library_geometries>
- <geometry id="Anymal_All-mesh" name="Anymal All">
+ <geometry id="Anymal_Trunk-mesh" name="Anymal Trunk">
<mesh>
- <source id="Anymal_All-mesh-positions">
- <float_array id="Anymal_All-mesh-positions-array" count="36">-0.3 -0.165 -0.15 -0.3 -0.165 0.29 -0.3 0.165 -0.15 -0.3 0.165 0.29 0.3 -0.165 -0.15 0.3 -0.165 0.29 0.3 0.165 -0.15 0.3 0.165 0.29 -0.04999995 -0.165 -0.325 -0.04999995 0.165 -0.325 0.04999995 0.165 -0.325 0.04999995 -0.165 -0.325</float_array>
+ <source id="Anymal_Trunk-mesh-positions">
+ <float_array id="Anymal_Trunk-mesh-positions-array" count="36">-0.3 -0.165 -0.1 -0.3 -0.165 0.29 -0.3 0.165 -0.1 -0.3 0.165 0.29 0.3 -0.165 -0.1 0.3 -0.165 0.29 0.3 0.165 -0.1 0.3 0.165 0.29 -0.04999995 -0.165 -0.275 -0.04999995 0.165 -0.275 0.04999995 0.165 -0.275 0.04999995 -0.165 -0.275</float_array>
<technique_common>
- <accessor source="#Anymal_All-mesh-positions-array" count="12" stride="3">
+ <accessor source="#Anymal_Trunk-mesh-positions-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
- <source id="Anymal_All-mesh-normals">
- <float_array id="Anymal_All-mesh-normals-array" count="36">-1 0 0 0 -1 0 1 0 0 0 1 0 0 0 1 0 0 -1 -0.5734623 0 -0.8192321 -0.5734621 0 -0.8192321 0.5734623 0 -0.8192321 0.5734621 0 -0.8192321 0 1 0 0 -1 -2.12874e-7</float_array>
+ <source id="Anymal_Trunk-mesh-normals">
+ <float_array id="Anymal_Trunk-mesh-normals-array" count="36">-1 0 0 0 -1 0 1 0 0 0 1 0 0 0 1 0 0 -1 -0.5734623 0 -0.819232 -0.5734623 0 -0.8192319 0.5734623 0 -0.819232 0.5734623 0 -0.8192319 0 1 -4.25747e-7 0 -1 -2.12874e-7</float_array>
<technique_common>
- <accessor source="#Anymal_All-mesh-normals-array" count="12" stride="3">
+ <accessor source="#Anymal_Trunk-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
- <vertices id="Anymal_All-mesh-vertices">
- <input semantic="POSITION" source="#Anymal_All-mesh-positions"/>
+ <vertices id="Anymal_Trunk-mesh-vertices">
+ <input semantic="POSITION" source="#Anymal_Trunk-mesh-positions"/>
</vertices>
<triangles material="Material_001-material" count="20">
- <input semantic="VERTEX" source="#Anymal_All-mesh-vertices" offset="0"/>
- <input semantic="NORMAL" source="#Anymal_All-mesh-normals" offset="1"/>
- <p>0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 6 2 7 2 4 2 4 2 7 2 5 2 2 3 3 3 6 3 6 3 3 3 7 3 5 4 7 4 1 4 1 4 7 4 3 4 8 5 9 5 10 5 10 5 11 5 8 5 0 6 2 6 9 6 9 7 8 7 0 7 4 8 10 8 6 8 10 9 4 9 11 9 10 3 9 3 2 3 2 10 6 10 10 10 11 1 4 1 0 1 0 11 8 11 11 11</p>
+ <input semantic="VERTEX" source="#Anymal_Trunk-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Anymal_Trunk-mesh-normals" offset="1"/>
+ <p>0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 0 1 0 1 5 1 1 1 6 2 7 2 4 2 4 2 7 2 5 2 2 3 3 3 6 3 6 3 3 3 7 3 5 4 7 4 1 4 1 4 7 4 3 4 8 5 9 5 10 5 10 5 11 5 8 5 0 6 2 6 9 6 9 7 8 7 0 7 4 8 10 8 6 8 10 9 4 9 11 9 10 10 9 10 2 10 2 3 6 3 10 3 11 1 4 1 0 1 0 11 8 11 11 11</p>
</triangles>
</mesh>
</geometry>
- <geometry id="LFleg_vN_Rom_003-mesh" name="LFleg vN Rom.003">
+ <geometry id="LFleg_vN_Rom_004-mesh" name="LFleg vN Rom.004">
<mesh>
- <source id="LFleg_vN_Rom_003-mesh-positions">
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<technique_common>
- <accessor source="#LFleg_vN_Rom_003-mesh-normals-array" count="4664" stride="3">
+ <accessor source="#LFleg_vN_Rom_004-mesh-normals-array" count="4664" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
- <vertices id="LFleg_vN_Rom_003-mesh-vertices">
- <input semantic="POSITION" source="#LFleg_vN_Rom_003-mesh-positions"/>
+ <vertices id="LFleg_vN_Rom_004-mesh-vertices">
+ <input semantic="POSITION" source="#LFleg_vN_Rom_004-mesh-positions"/>
</vertices>
- <triangles material="Material_002-material" count="4664">
- <input semantic="VERTEX" source="#LFleg_vN_Rom_003-mesh-vertices" offset="0"/>
- <input semantic="NORMAL" source="#LFleg_vN_Rom_003-mesh-normals" offset="1"/>
+ <triangles material="Material_002_001-material" count="4664">
+ <input semantic="VERTEX" source="#LFleg_vN_Rom_004-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#LFleg_vN_Rom_004-mesh-normals" offset="1"/>
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4022 1030 4023 931 4023 2279 4023 1030 4024 2279 4024 2048 4024 277 4025 1027 4025 1826 4025 277 4026 1826 4026 2191 4026 1096 4027 1793 4027 2114 4027 1096 4028 2114 4028 1097 4028 2282 4029 2283 4029 2200 4029 2282 4030 2199 4030 923 4030 2282 4031 1981 4031 2283 4031 2282 4032 2200 4032 2199 4032 2282 4033 923 4033 1981 4033 1856 4034 1889 4034 1857 4034 1856 4035 1893 4035 1889 4035 2001 4036 2284 4036 1217 4036 2001 4037 2232 4037 1818 4037 2001 4038 2258 4038 1685 4038 2001 4039 2233 4039 2232 4039 2001 4040 1685 4040 2233 4040 2001 4041 1818 4041 2284 4041 2044 4042 2045 4042 807 4042 2044 4043 2054 4043 2010 4043 2044 4044 807 4044 2054 4044 2044 4045 2010 4045 1875 4045 1019 4046 1020 4046 2285 4046 1019 4047 2285 4047 2234 4047 2147 4048 252 4048 251 4048 2147 4049 251 4049 1879 4049 1076 4050 1027 4050 1028 4050 480 4051 2170 4051 1603 4051 480 4052 481 4052 2171 4052 480 4053 2171 4053 2170 4053 2236 4054 1146 4054 953 4054 2236 4055 126 4055 1781 4055 2236 4056 1781 4056 1146 4056 2236 4057 127 4057 126 4057 1335 4058 1449 4058 1337 4058 743 4059 745 4059 2227 4059 113 4060 2270 4060 1811 4060 1511 4061 1055 4061 1512 4061 1511 4062 1510 4062 1883 4062 1884 4063 1885 4063 529 4063 972 4064 1849 4064 1848 4064 972 4065 2286 4065 973 4065 972 4066 976 4066 1849 4066 972 4067 1844 4067 2286 4067 972 4068 1848 4068 1844 4068 1870 4069 2287 4069 2184 4069 1870 4070 2288 4070 2287 4070 1870 4071 2224 4071 2288 4071 749 4072 751 4072 603 4072 664 4073 2227 4073 2003 4073 87 4074 88 4074 2164 4074 319 4075 1976 4075 621 4075 483 4076 1485 4076 334 4076 483 4077 724 4077 1485 4077 2211 4078 2289 4078 1467 4078 2211 4079 392 4079 2289 4079 2211 4080 1467 4080 2212 4080 2290 4081 1220 4081 1723 4081 2290 4082 650 4082 645 4082 2290 4083 1723 4083 650 4083 2290 4084 645 4084 1220 4084 2170 4085 1520 4085 1603 4085 2032 4086 845 4086 452 4086 2032 4087 2031 4087 845 4087 700 4088 702 4088 701 4088 2291 4089 1302 4089 1700 4089 2291 4090 1304 4090 1302 4090 2291 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529 4126 1423 4126 2293 4126 529 4127 2294 4127 1423 4127 2295 4128 2125 4128 2127 4128 2295 4129 96 4129 2125 4129 2295 4130 2126 4130 96 4130 2295 4131 2127 4131 2126 4131 435 4132 431 4132 1837 4132 2251 4133 2296 4133 2248 4133 2251 4134 2297 4134 2008 4134 2251 4135 2252 4135 2298 4135 2251 4136 2248 4136 2297 4136 2251 4137 2298 4137 2296 4137 1761 4138 2255 4138 1415 4138 1761 4139 1455 4139 2140 4139 1702 4140 1770 4140 1706 4140 1535 4141 1779 4141 1736 4141 1224 4142 1226 4142 584 4142 1224 4143 1531 4143 1225 4143 2296 4144 1629 4144 2249 4144 2296 4145 2249 4145 2248 4145 2296 4146 1398 4146 1629 4146 2296 4147 2298 4147 1398 4147 759 4148 756 4148 2239 4148 1404 4149 229 4149 1149 4149 742 4150 2120 4150 744 4150 742 4151 738 4151 1606 4151 1942 4152 1785 4152 1786 4152 868 4153 751 4153 869 4153 868 4154 603 4154 751 4154 1875 4155 2010 4155 1876 4155 1357 4156 1356 4156 1651 4156 1914 4157 1707 4157 2234 4157 2077 4158 1790 4158 1606 4158 1226 4159 2299 4159 584 4159 1226 4160 1229 4160 2299 4160 1232 4161 1798 4161 2300 4161 1232 4162 2300 4162 514 4162 1232 4163 2060 4163 1798 4163 1461 4164 1175 4164 2132 4164 1461 4165 1464 4165 1175 4165 1721 4166 2301 4166 1897 4166 1721 4167 2289 4167 2301 4167 1721 4168 1467 4168 2289 4168 2161 4169 305 4169 2173 4169 2161 4170 2173 4170 2162 4170 122 4171 697 4171 126 4171 1902 4172 1925 4172 1903 4172 1902 4173 2302 4173 1280 4173 1902 4174 1093 4174 2302 4174 1902 4175 1280 4175 1278 4175 1902 4176 1278 4176 1925 4176 1810 4177 1478 4177 1145 4177 1810 4178 2303 4178 1478 4178 1810 4179 1811 4179 2303 4179 1478 4180 2303 4180 784 4180 1478 4181 784 4181 1479 4181 1106 4182 610 4182 2023 4182 2304 4183 2287 4183 2288 4183 2304 4184 2288 4184 396 4184 2304 4185 396 4185 398 4185 2304 4186 398 4186 2126 4186 2304 4187 2126 4187 2184 4187 2304 4188 2184 4188 2287 4188 2284 4189 1818 4189 1217 4189 888 4190 887 4190 909 4190 2305 4191 1891 4191 2306 4191 2305 4192 2306 4192 2266 4192 2305 4193 1935 4193 2223 4193 2305 4194 2266 4194 448 4194 2305 4195 2223 4195 1891 4195 2305 4196 448 4196 1935 4196 2270 4197 2303 4197 1811 4197 2270 4198 784 4198 2303 4198 1485 4199 724 4199 575 4199 1485 4200 1488 4200 1342 4200 1485 4201 1342 4201 334 4201 1857 4202 1889 4202 1883 4202 527 4203 51 4203 49 4203 527 4204 1233 4204 528 4204 1778 4205 1894 4205 1779 4205 1987 4206 593 4206 592 4206 488 4207 2003 4207 991 4207 1492 4208 1494 4208 1669 4208 1492 4209 1669 4209 1670 4209 1492 4210 1670 4210 2202 4210 2307 4211 977 4211 1365 4211 2307 4212 2308 4212 977 4212 2307 4213 1365 4213 2308 4213 201 4214 2265 4214 1179 4214 2038 4215 1450 4215 1362 4215 1017 4216 1016 4216 2150 4216 1017 4217 1585 4217 2308 4217 1017 4218 2308 4218 1365 4218 1017 4219 1365 4219 1364 4219 1017 4220 2150 4220 1585 4220 907 4221 1011 4221 1699 4221 1925 4222 505 4222 1926 4222 1925 4223 1278 4223 505 4223 1926 4224 505 4224 504 4224 1629 4225 2160 4225 2231 4225 1629 4226 2231 4226 2249 4226 2033 4227 2309 4227 1984 4227 2033 4228 454 4228 2053 4228 2033 4229 2156 4229 2309 4229 353 4230 2045 4230 2209 4230 692 4231 1247 4231 834 4231 1119 4232 348 4232 1121 4232 648 4233 649 4233 922 4233 648 4234 1265 4234 1264 4234 648 4235 2245 4235 1265 4235 326 4236 74 4236 73 4236 2310 4237 768 4237 2311 4237 2310 4238 771 4238 768 4238 2310 4239 1709 4239 771 4239 2310 4240 2311 4240 1709 4240 1641 4241 1525 4241 1790 4241 1641 4242 1790 4242 2312 4242 1641 4243 2312 4243 532 4243 1641 4244 532 4244 1804 4244 649 4245 647 4245 922 4245 1971 4246 2313 4246 2314 4246 1971 4247 2314 4247 1467 4247 1971 4248 2162 4248 2313 4248 1971 4249 2250 4249 2162 4249 2232 4250 1413 4250 1818 4250 2232 4251 1456 4251 2315 4251 2232 4252 2315 4252 1413 4252 1363 4253 1366 4253 1364 4253 2316 4254 2299 4254 2023 4254 2316 4255 608 4255 2299 4255 2316 4256 609 4256 608 4256 2316 4257 2023 4257 609 4257 2299 4258 608 4258 2317 4258 2299 4259 1229 4259 2023 4259 2299 4260 2317 4260 584 4260 1907 4261 2182 4261 1908 4261 540 4262 2167 4262 541 4262 540 4263 1439 4263 2167 4263 540 4264 2059 4264 1439 4264 539 4265 900 4265 1796 4265 827 4266 2263 4266 2196 4266 827 4267 830 4267 2117 4267 827 4268 2117 4268 2263 4268 1325 4269 1326 4269 1327 4269 1594 4270 1428 4270 1595 4270 1594 4271 1429 4271 1428 4271 1751 4272 1494 4272 1016 4272 1751 4273 1669 4273 1494 4273 2318 4274 263 4274 1573 4274 2318 4275 1571 4275 1895 4275 2318 4276 1895 4276 2319 4276 2318 4277 2319 4277 263 4277 2318 4278 1573 4278 1571 4278 844 4279 1670 4279 196 4279 1623 4280 22 4280 1624 4280 6 4281 8 4281 2280 4281 1922 4282 1924 4282 1923 4282 1806 4283 1375 4283 1121 4283 1806 4284 1121 4284 348 4284 904 4285 1067 4285 1831 4285 1785 4286 1066 4286 1656 4286 1587 4287 1586 4287 1868 4287 1630 4288 1379 4288 2213 4288 425 4289 2021 4289 999 4289 1941 4290 393 4290 390 4290 1692 4291 2320 4291 2069 4291 1692 4292 2069 4292 2068 4292 1692 4293 1694 4293 2320 4293 1692 4294 2068 4294 1693 4294 174 4295 2261 4295 175 4295 174 4296 570 4296 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4330 973 4331 777 4331 974 4331 973 4332 1410 4332 777 4332 2286 4333 1844 4333 1843 4333 768 4334 799 4334 2323 4334 768 4335 2323 4335 2311 4335 1439 4336 2059 4336 2092 4336 1399 4337 1634 4337 1400 4337 1399 4338 1635 4338 1634 4338 1399 4339 1991 4339 1635 4339 1399 4340 1973 4340 1991 4340 1413 4341 2315 4341 1936 4341 181 4342 715 4342 1911 4342 181 4343 1911 4343 182 4343 828 4344 2197 4344 1097 4344 828 4345 1097 4345 2114 4345 887 4346 254 4346 909 4346 2042 4347 1152 4347 1988 4347 233 4348 229 4348 1406 4348 233 4349 1406 4349 623 4349 1980 4350 1981 4350 923 4350 1980 4351 395 4351 2321 4351 1980 4352 923 4352 395 4352 1968 4353 1845 4353 1058 4353 2125 4354 816 4354 1675 4354 2125 4355 96 4355 816 4355 1733 4356 1313 4356 1310 4356 1733 4357 1310 4357 1447 4357 475 4358 473 4358 476 4358 1085 4359 1718 4359 1086 4359 2045 4360 2046 4360 2209 4360 1876 4361 2010 4361 1877 4361 602 4362 1180 4362 1948 4362 602 4363 753 4363 603 4363 1456 4364 1936 4364 2315 4364 1456 4365 547 4365 546 4365 290 4366 289 4366 291 4366 1308 4367 2086 4367 1311 4367 2091 4368 1175 4368 1464 4368 2091 4369 1464 4369 1172 4369 870 4370 867 4370 756 4370 2072 4371 938 4371 2207 4371 2072 4372 2062 4372 1042 4372 2072 4373 2207 4373 2062 4373 697 4374 1781 4374 126 4374 1249 4375 1228 4375 1227 4375 1227 4376 834 4376 1247 4376 1978 4377 1613 4377 1611 4377 1978 4378 1611 4378 1518 4378 2263 4379 2324 4379 2196 4379 2263 4380 2264 4380 2324 4380 2197 4381 1904 4381 1099 4381 2197 4382 1099 4382 1097 4382 2108 4383 2143 4383 408 4383 1859 4384 1858 4384 2252 4384 2198 4385 1888 4385 1746 4385 2198 4386 2200 4386 1888 4386 1525 4387 1791 4387 2325 4387 1525 4388 2325 4388 1790 4388 1525 4389 332 4389 1791 4389 1840 4390 1919 4390 1841 4390 1127 4391 1938 4391 2235 4391 170 4392 509 4392 511 4392 170 4393 511 4393 508 4393 91 4394 2326 4394 786 4394 91 4395 397 4395 2326 4395 91 4396 786 4396 97 4396 957 4397 2015 4397 2135 4397 957 4398 2135 4398 1545 4398 957 4399 1545 4399 1683 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2238 4468 2265 4469 2081 4469 1179 4469 1020 4470 2234 4470 2285 4470 2331 4471 838 4471 839 4471 2331 4472 839 4472 2332 4472 2331 4473 2332 4473 838 4473 2277 4474 1167 4474 1165 4474 2277 4475 860 4475 1273 4475 2277 4476 1165 4476 2079 4476 2277 4477 2079 4477 860 4477 1203 4478 175 4478 2261 4478 2302 4479 1093 4479 1092 4479 2302 4480 1281 4480 1280 4480 2302 4481 1092 4481 1281 4481 608 4482 1450 4482 2317 4482 1869 4483 1586 4483 1210 4483 1869 4484 1868 4484 1586 4484 1869 4485 1582 4485 620 4485 1869 4486 1210 4486 2322 4486 492 4487 1940 4487 2186 4487 492 4488 1808 4488 1940 4488 340 4489 1191 4489 344 4489 1401 4490 1398 4490 2298 4490 1401 4491 2298 4491 1923 4491 1791 4492 1790 4492 2325 4492 1791 4493 331 4493 1792 4493 1791 4494 332 4494 331 4494 1674 4495 589 4495 356 4495 1107 4496 1691 4496 1937 4496 1801 4497 1805 4497 2273 4497 1240 4498 2267 4498 2089 4498 1240 4499 1241 4499 2267 4499 2015 4500 2194 4500 2016 4500 2015 4501 960 4501 2194 4501 1690 4502 683 4502 1821 4502 1690 4503 2327 4503 1691 4503 2238 4504 858 4504 855 4504 2067 4505 2070 4505 2068 4505 1894 4506 1736 4506 1779 4506 199 4507 204 4507 1666 4507 1679 4508 1086 4508 294 4508 1790 4509 190 4509 2312 4509 2142 4510 2144 4510 1898 4510 1898 4511 1899 4511 2085 4511 1898 4512 2085 4512 2143 4512 1898 4513 2144 4513 2231 4513 1282 4514 505 4514 1278 4514 569 4515 2260 4515 570 4515 2320 4516 1694 4516 1262 4516 2320 4517 1262 4517 2332 4517 2320 4518 2332 4518 2069 4518 1530 4519 2069 4519 2333 4519 1530 4520 2333 4520 1531 4520 2254 4521 1844 4521 1848 4521 2254 4522 2035 4522 1061 4522 2254 4523 1845 4523 1844 4523 2254 4524 1848 4524 2035 4524 1896 4525 1386 4525 1788 4525 1896 4526 1788 4526 1656 4526 190 4527 532 4527 2312 4527 1220 4528 1695 4528 1221 4528 1220 4529 645 4529 1659 4529 1220 4530 1659 4530 1695 4530 1253 4531 1957 4531 1698 4531 2255 4532 2328 4532 1415 4532 2255 4533 2329 4533 2328 4533 1885 4534 153 4534 1211 4534 1885 4535 1060 4535 2294 4535 1885 4536 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- <geometry id="LHleg_vN_Rom_003-mesh" name="LHleg vN Rom.003">
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4573 2244 4573 1489 4574 2244 4574 2010 4574 2207 4575 623 4575 621 4575 2246 4576 1536 4576 1292 4576 1350 4577 1172 4577 1762 4577 988 4578 317 4578 313 4578 1241 4579 2321 4579 1242 4579 2052 4580 1550 4580 1549 4580 926 4581 2328 4581 335 4581 926 4582 924 4582 2328 4582 1023 4583 2288 4583 1068 4583 2126 4584 1036 4584 425 4584 1081 4585 1292 4585 1536 4585 327 4586 623 4586 1973 4586 2093 4587 2092 4587 2256 4587 567 4588 881 4588 1136 4588 1202 4589 2211 4589 1203 4589 1643 4590 1642 4590 2316 4590 1747 4591 593 4591 2139 4591 2261 4592 901 4592 1160 4592 1129 4593 2082 4593 560 4593 1694 4594 1692 4594 1614 4594 2270 4595 2082 4595 962 4595 2270 4596 560 4596 2082 4596 2323 4597 569 4597 568 4597 2073 4598 1546 4598 1733 4598 2318 4599 2230 4599 1286 4599 2123 4600 2122 4600 1176 4600 232 4601 814 4601 233 4601 335 4602 2328 4602 924 4602 1104 4603 1094 4603 402 4603 206 4604 1155 4604 784 4604 2305 4605 936 4605 935 4605 2305 4606 499 4606 936 4606 2305 4607 935 4607 2294 4607 710 4608 1192 4608 1178 4608 710 4609 1983 4609 1192 4609 907 4610 2029 4610 908 4610 1077 4611 1844 4611 1080 4611 2317 4612 91 4612 1440 4612 1442 4613 488 4613 784 4613 784 4614 1296 4614 603 4614 784 4615 1154 4615 1296 4615 784 4616 1155 4616 1154 4616 43 4617 1682 4617 44 4617 1328 4618 1145 4618 1144 4618 2295 4619 2179 4619 2294 4619 178 4620 1763 4620 1764 4620 178 4621 2012 4621 1763 4621 1985 4622 2294 4622 935 4622 1985 4623 1986 4623 2007 4623 2184 4624 1763 4624 2012 4624 1420 4625 2326 4625 1423 4625 1639 4626 2233 4626 1998 4626 460 4627 248 4627 125 4627 2314 4628 2148 4628 1669 4628 2314 4629 1859 4629 2148 4629 619 4630 1259 4630 620 4630 1263 4631 2210 4631 1264 4631 872 4632 1080 4632 171 4632 1838 4633 1007 4633 1006 4633 1546 4634 1544 4634 1733 4634 1091 4635 171 4635 1080 4635 1875 4636 62 4636 1793 4636 772 4637 570 4637 569 4637 1928 4638 1192 4638 1187 4638 2281 4639 1839 4639 1473 4639 2281 4640 1840 4640 1839 4640 1498 4641 1414 4641 1413 4641 1498 4642 1008 4642 1414 4642 1648 4643 1932 4643 507 4643 1487 4644 2244 4644 2327 4644 884 4645 2195 4645 2221 4645 884 4646 1247 4646 2195 4646 2187 4647 2197 4647 1785 4647 1033 4648 2128 4648 1260 4648 737 4649 1854 4649 1853 4649 1770 4650 431 4650 428 4650 1085 4651 1232 4651 1087 4651 1986 4652 375 4652 2216 4652 1005 4653 1053 4653 1510 4653</p>
</triangles>
</mesh>
@@ -241,9 +241,9 @@
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
- <node id="Anymal_All" name="Anymal_All" type="NODE">
+ <node id="Anymal_Trunk" name="Anymal_Trunk" 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="#Anymal_All-mesh" name="Anymal_All">
+ <instance_geometry url="#Anymal_Trunk-mesh" name="Anymal_Trunk">
<bind_material>
<technique_common>
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
@@ -253,40 +253,40 @@
</node>
<node id="LFleg_vN_Rom" name="LFleg_vN_Rom" 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="#LFleg_vN_Rom_003-mesh" name="LFleg_vN_Rom">
+ <instance_geometry url="#LFleg_vN_Rom_004-mesh" name="LFleg_vN_Rom">
<bind_material>
<technique_common>
- <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ <instance_material symbol="Material_002_001-material" target="#Material_002_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="LHleg_vN_Rom" name="LHleg_vN_Rom" 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="#LHleg_vN_Rom_003-mesh" name="LHleg_vN_Rom">
+ <instance_geometry url="#LHleg_vN_Rom_004-mesh" name="LHleg_vN_Rom">
<bind_material>
<technique_common>
- <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ <instance_material symbol="Material_002_001-material" target="#Material_002_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="RFleg_vN_Rom" name="RFleg_vN_Rom" 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="#RFleg_vN_Rom_002-mesh" name="RFleg_vN_Rom">
+ <instance_geometry url="#RFleg_vN_Rom_003-mesh" name="RFleg_vN_Rom">
<bind_material>
<technique_common>
- <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ <instance_material symbol="Material_002_001-material" target="#Material_002_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
<node id="RHleg_vN_Rom" name="RHleg_vN_Rom" 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="#RHleg_vN_Rom_002-mesh" name="RHleg_vN_Rom">
+ <instance_geometry url="#RHleg_vN_Rom_003-mesh" name="RHleg_vN_Rom">
<bind_material>
<technique_common>
- <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ <instance_material symbol="Material_002_001-material" target="#Material_002_001-material"/>
</technique_common>
</bind_material>
</instance_geometry>
diff --git a/data/meshes/anymal_trunk.stl b/data/meshes/anymal_trunk.stl
index 1de06c81913cc678f14bc00783aa741cb3255d4a..9b42d07c9d07fc6391db932f45c3633350bf9c76 100644
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--
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