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k-okada/spot.dae

Created April 14, 2025 08:48
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spot.dae
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<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0">
<asset>
<contributor>
<authoring_tool>URDF Collada Writer</authoring_tool>
</contributor>
<created>2025-04-14T17:45:52.000000</created>
<modified>2025-04-14T17:45:52.000000</modified>
<unit/>
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes id="vscenes">
<visual_scene id="vscene" name="URDF Visual Scene">
<node id="visual0" name="spot" sid="visual0">
<node id="vkmodel0_node9" name="body" sid="node9">
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_body_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_body_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node4" name="arm0.link_sh0" sid="node4">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.292 0 0.188</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_sh0_axis0">0 0 1 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_sh0_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_sh0_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node5" name="arm0.link_sh1" sid="node5">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_sh1_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_sh1_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_sh1_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node3" name="arm0.link_hr0" sid="node3">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_hr0_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_hr0_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_hr0_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node0" name="arm0.link_el0" sid="node0">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.3385 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_el0_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_el0_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_el0_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node1" name="arm0.link_el1" sid="node1">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.4033 0 0.075</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_el1_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_el1_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_el1_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node6" name="arm0.link_wr0" sid="node6">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_wr0_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_wr0_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_wr0_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node7" name="arm0.link_wr1" sid="node7">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_wr1_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_wr1_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_wr1_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node2" name="arm0.link_fngr" sid="node2">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.11745 0 0.01482</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_arm0_f1x_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_arm0_link_fngr_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_arm0_link_fngr_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</node>
</node>
</node>
</node>
</node>
</node>
<node id="vkmodel0_node8" name="base_link" sid="node8">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_base_link_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
<node id="vkmodel0_node10" name="front_left_hip" sid="node10">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.29785 0.055 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_left_hip_x_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_left_hip_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_left_hip_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node12" name="front_left_upper_leg" sid="node12">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0.110945 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_left_hip_y_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_left_upper_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_left_upper_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node11" name="front_left_lower_leg" sid="node11">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.025 0 -0.3205</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_left_knee_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_left_lower_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_left_lower_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</node>
<node id="vkmodel0_node13" name="front_rail" sid="node13">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.223 0 0.0805</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_rail_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
<node id="vkmodel0_node14" name="front_right_hip" sid="node14">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.29785 -0.055 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_right_hip_x_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_right_hip_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_right_hip_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node16" name="front_right_upper_leg" sid="node16">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 -0.110945 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_right_hip_y_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_right_upper_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_right_upper_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node15" name="front_right_lower_leg" sid="node15">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.025 0 -0.3205</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_front_right_knee_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_front_right_lower_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_front_right_lower_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</node>
<node id="vkmodel0_node17" name="rear_left_hip" sid="node17">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>-0.29785 0.055 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_left_hip_x_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_left_hip_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_left_hip_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node19" name="rear_left_upper_leg" sid="node19">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 0.110945 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_left_hip_y_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_left_upper_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_left_upper_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node18" name="rear_left_lower_leg" sid="node18">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.025 0 -0.3205</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_left_knee_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_left_lower_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_left_lower_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</node>
<node id="vkmodel0_node20" name="rear_rail" sid="node20">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>-0.223 0 0.0805</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_rail_joint_axis0">0 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
</node>
<node id="vkmodel0_node21" name="rear_right_hip" sid="node21">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>-0.29785 -0.055 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_right_hip_x_axis0">1 0 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_right_hip_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_right_hip_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node23" name="rear_right_upper_leg" sid="node23">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0 -0.110945 0</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_right_hip_y_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_right_upper_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_right_upper_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
<node id="vkmodel0_node22" name="rear_right_lower_leg" sid="node22">
<translate>-0 -0 -0</translate>
<rotate>1 0 0 0</rotate>
<translate>0.025 0 -0.3205</translate>
<rotate>1 0 0 0</rotate>
<rotate sid="node_rear_right_knee_axis0">0 1 0 0</rotate>
<translate>0 0 0</translate>
<rotate>1 0 0 0</rotate>
<instance_geometry url="#gkmodel0_rear_right_lower_leg_geom0">
<bind_material>
<technique_common>
<instance_material symbol="mat0" target="#gkmodel0_rear_right_lower_leg_geom0_mat"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</node>
</node>
</node>
</node>
</visual_scene>
</library_visual_scenes>
<library_geometries id="geometries">
<geometry id="gkmodel0_body_geom0" name="package://spot_description/meshes/body.dae">
<mesh>
<source id="gkmodel0_body_geom0_positions">
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