From c29bbc0442cbefe77ee88eb8357a0b073d9f64ff Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Fri, 18 Jan 2019 14:13:52 +0100
Subject: [PATCH] Remove old meshes
---
README.md | 53 ++
launch/description.launch | 18 +-
launch/test.launch | 13 +
meshes/arm.dae | 483 ++++++++++++++
meshes/arm.stl | Bin 1170234 -> 0 bytes
meshes/body.dae | 1278 +++++++++++++++++++++++++++++++++++++
meshes/body.stl | Bin 2797084 -> 0 bytes
meshes/head.dae | 578 +++++++++++++++++
meshes/head.stl | Bin 3047684 -> 0 bytes
package.xml | 6 +
rviz/dabo.rviz | 293 +++++++++
urdf/dabo.xacro | 4 +-
12 files changed, 2716 insertions(+), 10 deletions(-)
create mode 100644 README.md
create mode 100644 launch/test.launch
create mode 100644 meshes/arm.dae
delete mode 100644 meshes/arm.stl
create mode 100644 meshes/body.dae
delete mode 100644 meshes/body.stl
create mode 100644 meshes/head.dae
delete mode 100644 meshes/head.stl
create mode 100644 rviz/dabo.rviz
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..0d75506
--- /dev/null
+++ b/README.md
@@ -0,0 +1,53 @@
+# Description
+
+The iri_dabo_description ROS package contains physical descriptions of the Dabo robot built at IRI.
+The following files are provided:
+
+ * Main xacro file to import the robot.
+
+ * Other Xacro macros with all the elements available on the robot.
+
+ * description.launch: loads the robot description with the appropiate model
+and creates an instance of the robot_state_publisher ROS node. It has these
+arguments:
+
+ * node_name: (default: robot) base name given to the platform
+related nodes.
+
+ * model: (default: segway_example) name of the xacro file to include.
+
+ * static_wheels: (default: false) publishes static transforms for wheel links, useful with the real robot when there is no joint information available
+
+ * test.launch: loads the description launch and shows the model in Rviz
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+
+ * [joint_state_publisher](http://wiki.ros.org/robot_state_publisher)
+
+ * [iri_segway_rmp200_description](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_segway_rmp200_description)
+
+ * [iri_hokuyo_laser2d_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger2d/iri_hokuyo_laser2d_description)
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/platforms/segway/iri_dabo_description.git
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+# How to use it
+
+The *dabo.xacro* file shows an example of how to include the xacro
+macro in another xacro file.
\ No newline at end of file
diff --git a/launch/description.launch b/launch/description.launch
index 41f03fb..c425588 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -1,13 +1,14 @@
<?xml version="1.0" encoding="UTF-8"?>
<launch>
- <arg name="name" default="dabo"/>
- <arg name="model" default="dabo"/>
+ <arg name="name" default="dabo"/>
+ <arg name="model" default="dabo"/>
+ <arg name="static_wheels" default="false" />
<group ns="$(arg name)">
<param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg name)" />
+ command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg name)" />
<node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
<param name="tf_prefix" type="string" value="/$(arg name)"/>
@@ -26,11 +27,12 @@
</group>
- <!--
- <include file="$(find iri_segway_rmp200_description)/launch/wheel_static_transform.launch">
- <arg name="name" value="$(arg name)"/>
- </include>
- -->
+ <group if="$(arg static_wheels)">
+ <include file="$(find iri_segway_rmp200_description)/launch/wheel_static_transform.launch">
+ <arg name="name" value="$(arg name)"/>
+ </include>
+ </group>
+
<include file="$(find iri_segway_rmp200_description)/launch/caster_wheels_static_transform.launch">
<arg name="name" value="$(arg name)"/>
diff --git a/launch/test.launch b/launch/test.launch
new file mode 100644
index 0000000..cc4b45f
--- /dev/null
+++ b/launch/test.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <include file="$(find iri_dabo_description)/launch/description.launch">
+ <arg name="name" value="dabo"/>
+ <arg name="model" value="dabo"/>
+ <arg name="static_wheels" value="true"/>
+ </include>
+
+ <node pkg="rviz" type="rviz" name="rviz" args="-d $(find iri_dabo_description)/rviz/dabo.rviz">
+ </node>
+
+</launch>
\ No newline at end of file
diff --git a/meshes/arm.dae b/meshes/arm.dae
new file mode 100644
index 0000000..c861b28
--- /dev/null
+++ b/meshes/arm.dae
@@ -0,0 +1,483 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+ </contributor>
+ <created>2019-01-17T11:37:14</created>
+ <modified>2019-01-17T11:37:14</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">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.001">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.002">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002-camera" name="Camera.003">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
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+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">8192</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
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+ <bufsize sid="bufsize" type="int">2880</bufsize>
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+ <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+ <area_sizez sid="area_sizez" type="float">1</area_sizez>
+ <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
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+ <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+ <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+ <spread sid="spread" type="float">1</spread>
+ <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+ <sun_size sid="sun_size" type="float">1</sun_size>
+ <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+ <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+ <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ <light id="Lamp_001-light" name="Lamp.001">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
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+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
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+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
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+ </technique>
+ </extra>
+ </light>
+ <light id="Lamp_002-light" name="Lamp.003">
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+ </technique_common>
+ </source>
+ <vertices id="Arm-mesh-vertices">
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+ </vertices>
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11726 21043 11725 21043 11705 21044 11725 21044 11673 21044 11673 21045 11725 21045 11717 21045 11673 21046 11717 21046 11674 21046 11674 20477 11717 20477 11716 20477 11674 21047 11716 21047 11686 21047 11686 21048 11716 21048 11715 21048 11686 21049 11715 21049 11687 21049 11687 21050 11715 21050 11710 21050 11687 21051 11710 21051 11688 21051 11688 21052 11710 21052 11709 21052 11688 21053 11709 21053 11689 21053 11689 21054 11709 21054 11714 21054</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_controllers/>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera" name="Camera" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ <node id="Lamp" name="Lamp" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="Arm" name="Arm" type="NODE">
+ <matrix sid="transform">-3.09086e-8 3.68675e-7 -1 0 0.7071068 -0.7071068 -2.82548e-7 0 -0.7071068 -0.7071068 -2.38837e-7 0 0 0 0 1</matrix>
+ <instance_geometry url="#Arm-mesh" name="Arm">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6858804 -0.31737 0.654862 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452453 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Camera_002" name="Camera_002" type="NODE">
+ <matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002-camera"/>
+ </node>
+ <node id="Lamp_002" name="Lamp_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002-light"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/meshes/arm.stl b/meshes/arm.stl
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diff --git a/meshes/body.dae b/meshes/body.dae
new file mode 100644
index 0000000..38a74e6
--- /dev/null
+++ b/meshes/body.dae
@@ -0,0 +1,1278 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+ </contributor>
+ <created>2019-01-17T11:46:21</created>
+ <modified>2019-01-17T11:46:21</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">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.001">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.002">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002-camera" name="Camera.003">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002-camera" name="Camera.004">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001_001-camera" name="Camera.006">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001_002-camera" name="Camera.006">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002_001-camera" name="Camera.008">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002_002-camera" name="Camera.008">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001_001-camera" name="Camera.009">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001_002-camera" name="Camera.010">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002_001-camera" name="Camera.011">
+ <optics>
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+ <input semantic="VERTEX" source="#Body-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Body-mesh-normals" offset="1"/>
+ <p>3443 40779 3234 40779 21524 40779 21524 40780 3234 40780 21553 40780 21524 40781 21553 40781 21522 40781 9141 40782 9140 40782 21564 40782 21564 40783 9140 40783 21508 40783 21564 40784 21508 40784 21565 40784 21508 40785 21510 40785 21565 40785 21565 40786 21510 40786 21512 40786 21565 40787 21512 40787 21569 40787 21569 40788 21512 40788 21562 40788 21562 40789 21512 40789 21514 40789 21562 40790 21514 40790 21560 40790 21560 40791 21514 40791 21516 40791 21560 40792 21516 40792 21557 40792 21557 40793 21516 40793 21518 40793 21557 40794 21518 40794 21520 40794 21557 40795 21520 40795 21555 40795 21555 40796 21520 40796 21522 40796 21555 40797 21522 40797 21551 40797 21551 40798 21522 40798 21553 40798</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_controllers/>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera" name="Camera" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ <node id="Lamp" name="Lamp" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6858804 -0.31737 0.654862 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452453 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Camera_002" name="Camera_002" type="NODE">
+ <matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002-camera"/>
+ </node>
+ <node id="Lamp_002" name="Lamp_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002-light"/>
+ </node>
+ <node id="Body" name="Body" 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="#Body-mesh" name="Body">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ <instance_material symbol="Material_003-material" target="#Material_003-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Camera_002" name="Camera_002" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002-camera"/>
+ </node>
+ <node id="Lamp_002" name="Lamp_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002-light"/>
+ </node>
+ <node id="Camera_001_001" name="Camera_001_001" type="NODE">
+ <matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001_001-camera"/>
+ </node>
+ <node id="Lamp_001_001" name="Lamp_001_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001_001-light"/>
+ </node>
+ <node id="Camera_001_002" name="Camera_001_002" type="NODE">
+ <matrix sid="transform">0.6858804 -0.3173699 0.654862 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081676 0.8953431 0.4452451 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001_002-camera"/>
+ </node>
+ <node id="Lamp_001_002" name="Lamp_001_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001_002-light"/>
+ </node>
+ <node id="Camera_002_001" name="Camera_002_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -5.60925e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002_001-camera"/>
+ </node>
+ <node id="Lamp_002_001" name="Lamp_002_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002_001-light"/>
+ </node>
+ <node id="Camera_002_002" name="Camera_002_002" type="NODE">
+ <matrix sid="transform">0.6859208 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -3.28323e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002_002-camera"/>
+ </node>
+ <node id="Lamp_002_002" name="Lamp_002_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002_002-light"/>
+ </node>
+ <node id="Camera_001_001" name="Camera_001_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -5.60925e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001_001-camera"/>
+ </node>
+ <node id="Lamp_001_001" name="Lamp_001_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001_001-light"/>
+ </node>
+ <node id="Camera_001_002" name="Camera_001_002" type="NODE">
+ <matrix sid="transform">0.6858804 -0.3173698 0.654862 7.481132 0.7276337 0.3124683 -0.6106656 -6.50764 -0.01081675 0.8953432 0.445245 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001_002-camera"/>
+ </node>
+ <node id="Lamp_001_002" name="Lamp_001_002" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001_002-light"/>
+ </node>
+ <node id="Camera_002_001" name="Camera_002_001" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054209 -0.6141704 -6.50764 -5.60925e-8 0.8953955 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_002_001-camera"/>
+ </node>
+ <node id="Lamp_002_001" name="Lamp_002_001" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.0551891 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_002_001-light"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
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diff --git a/meshes/head.dae b/meshes/head.dae
new file mode 100644
index 0000000..7d23dd5
--- /dev/null
+++ b/meshes/head.dae
@@ -0,0 +1,578 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b</authoring_tool>
+ </contributor>
+ <created>2019-01-17T11:55:50</created>
+ <modified>2019-01-17T11:55:50</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">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.001">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001-camera" name="Camera.003">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_001_001-camera" name="Camera.003">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ <camera id="Camera_002-camera" name="Camera.004">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</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>
+ <YF_dofdist sid="YF_dofdist" type="float">0</YF_dofdist>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <type sid="type" type="int">0</type>
+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">8192</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
+ <compressthresh sid="compressthresh" type="float">0.04999995</compressthresh>
+ <bufsize sid="bufsize" type="int">2880</bufsize>
+ <samp sid="samp" type="int">3</samp>
+ <buffers sid="buffers" type="int">1</buffers>
+ <filtertype sid="filtertype" type="int">0</filtertype>
+ <bufflag sid="bufflag" type="int">0</bufflag>
+ <buftype sid="buftype" type="int">2</buftype>
+ <ray_samp sid="ray_samp" type="int">1</ray_samp>
+ <ray_sampy sid="ray_sampy" type="int">1</ray_sampy>
+ <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+ <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+ <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>
+ <adapt_thresh sid="adapt_thresh" type="float">0.000999987</adapt_thresh>
+ <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
+ <shadhalostep sid="shadhalostep" type="int">0</shadhalostep>
+ <sun_effect_type sid="sun_effect_type" type="int">0</sun_effect_type>
+ <skyblendtype sid="skyblendtype" type="int">1</skyblendtype>
+ <horizon_brightness sid="horizon_brightness" type="float">1</horizon_brightness>
+ <spread sid="spread" type="float">1</spread>
+ <sun_brightness sid="sun_brightness" type="float">1</sun_brightness>
+ <sun_size sid="sun_size" type="float">1</sun_size>
+ <backscattered_light sid="backscattered_light" type="float">1</backscattered_light>
+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
+ <atm_extinction_factor sid="atm_extinction_factor" type="float">1</atm_extinction_factor>
+ <atm_distance_factor sid="atm_distance_factor" type="float">1</atm_distance_factor>
+ <skyblendfac sid="skyblendfac" type="float">1</skyblendfac>
+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ <light id="Lamp_001-light" name="Lamp.001">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <type sid="type" type="int">0</type>
+ <flag sid="flag" type="int">0</flag>
+ <mode sid="mode" type="int">8192</mode>
+ <gamma sid="blender_gamma" type="float">1</gamma>
+ <red sid="red" type="float">1</red>
+ <green sid="green" type="float">1</green>
+ <blue sid="blue" type="float">1</blue>
+ <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+ <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+ <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+ <energy sid="blender_energy" type="float">1</energy>
+ <dist sid="blender_dist" type="float">29.99998</dist>
+ <spotsize sid="spotsize" type="float">75</spotsize>
+ <spotblend sid="spotblend" type="float">0.15</spotblend>
+ <halo_intensity sid="blnder_halo_intensity" type="float">1</halo_intensity>
+ <att1 sid="att1" type="float">0</att1>
+ <att2 sid="att2" type="float">1</att2>
+ <falloff_type sid="falloff_type" type="int">2</falloff_type>
+ <clipsta sid="clipsta" type="float">1.000799</clipsta>
+ <clipend sid="clipend" type="float">30.002</clipend>
+ <bias sid="bias" type="float">1</bias>
+ <soft sid="soft" type="float">3</soft>
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+ <bufflag sid="bufflag" type="int">0</bufflag>
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+ <ray_sampz sid="ray_sampz" type="int">1</ray_sampz>
+ <ray_samp_type sid="ray_samp_type" type="int">0</ray_samp_type>
+ <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>
+ <adapt_thresh sid="adapt_thresh" type="float">9.99987e-4</adapt_thresh>
+ <ray_samp_method sid="ray_samp_method" type="int">1</ray_samp_method>
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+ <sun_intensity sid="sun_intensity" type="float">1</sun_intensity>
+ <atm_turbidity sid="atm_turbidity" type="float">2</atm_turbidity>
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+ <sky_exposure sid="sky_exposure" type="float">1</sky_exposure>
+ <sky_colorspace sid="sky_colorspace" type="int">0</sky_colorspace>
+ </technique>
+ </extra>
+ </light>
+ <light id="Lamp_001-light" name="Lamp.003">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
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+ <technique_common>
+ <accessor source="#Head-mesh-positions-array" count="27356" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="Head-mesh-normals">
+ <float_array id="Head-mesh-normals-array" count="145146">