Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- .gitattributes +2 -0
- embodiments/ARX-X5/X5A.urdf +3 -288
- embodiments/ARX-X5/collision_X5A.yml +3 -84
- embodiments/ARX-X5/config.yml +3 -54
- embodiments/ARX-X5/curobo_tmp.yml +3 -70
- embodiments/aloha-agilex/collision_aloha_left.yml +3 -168
- embodiments/aloha-agilex/collision_aloha_right.yml +3 -82
- embodiments/aloha-agilex/config.yml +3 -54
- embodiments/aloha-agilex/curobo_left_tmp.yml +3 -88
- embodiments/aloha-agilex/curobo_right_tmp.yml +3 -88
- embodiments/aloha-agilex/meshes/base_arm.STL +0 -0
- embodiments/aloha-agilex/meshes/box1_Link.STL +0 -0
- embodiments/aloha-agilex/meshes/caster.stl +0 -0
- embodiments/aloha-agilex/meshes/caster_L.stl +0 -0
- embodiments/aloha-agilex/meshes/castor.dae +0 -0
- embodiments/aloha-agilex/meshes/castor_joint.dae +0 -0
- embodiments/aloha-agilex/meshes/link7.STL +0 -0
- embodiments/aloha-agilex/meshes/link8.STL +0 -0
- embodiments/aloha-agilex/meshes/right_cam_link.dae +0 -0
- embodiments/aloha-agilex/meshes/tracer_wheel.dae +0 -0
- embodiments/aloha-agilex/srdf/arx5_description_isaac.srdf +3 -401
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/back_link7.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.STL +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL.convex.stl +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.dae +3 -92
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster.stl +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster_L.stl +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/castor.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/castor_joint.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link1.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link2.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link3.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link4.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link5.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link6.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.STL +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.dae +3 -103
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.STL +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.dae +3 -103
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/right_cam_link.dae +0 -0
- embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_wheel.dae +0 -0
- embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf +3 -1675
- embodiments/franka-panda/collision_franka.yml +3 -144
- embodiments/franka-panda/config.yml +3 -60
- embodiments/franka-panda/curobo_tmp.yml +3 -117
- embodiments/franka-panda/franka_description/meshes/collision/finger.stl +0 -0
- embodiments/franka-panda/franka_description/meshes/collision/hand.stl +0 -0
.gitattributes
CHANGED
|
@@ -102,3 +102,5 @@ dataset_infos.json ignore
|
|
| 102 |
|
| 103 |
aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text
|
| 104 |
franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
| 102 |
|
| 103 |
aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text
|
| 104 |
franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text
|
| 105 |
+
embodiments/aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text
|
| 106 |
+
embodiments/franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text
|
embodiments/ARX-X5/X5A.urdf
CHANGED
|
@@ -1,288 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
<robot name="X5A">
|
| 5 |
-
<link name="base_link">
|
| 6 |
-
<inertial>
|
| 7 |
-
<origin xyz="-3.0001E-05 3.0589E-05 0.027324" rpy="0 0 0" />
|
| 8 |
-
<mass value="0.43995" />
|
| 9 |
-
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00017" iyz="0.00000" izz="0.00016" />
|
| 10 |
-
</inertial>
|
| 11 |
-
<visual>
|
| 12 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 13 |
-
<geometry>
|
| 14 |
-
<mesh filename="meshes/base_link.STL" />
|
| 15 |
-
</geometry>
|
| 16 |
-
<material name="black">
|
| 17 |
-
<color rgba="0 0 0 1" />
|
| 18 |
-
</material>
|
| 19 |
-
</visual>
|
| 20 |
-
<collision>
|
| 21 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 22 |
-
<geometry>
|
| 23 |
-
<mesh filename="meshes/base_link.STL" />
|
| 24 |
-
</geometry>
|
| 25 |
-
</collision>
|
| 26 |
-
</link>
|
| 27 |
-
<link name="link1">
|
| 28 |
-
<inertial>
|
| 29 |
-
<origin xyz="0.0054231 -0.0080289 0.017086" rpy="0 0 0" />
|
| 30 |
-
<mass value="0.066982" />
|
| 31 |
-
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00008" />
|
| 32 |
-
</inertial>
|
| 33 |
-
<visual>
|
| 34 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 35 |
-
<geometry>
|
| 36 |
-
<mesh filename="meshes/link1.STL" />
|
| 37 |
-
</geometry>
|
| 38 |
-
<material name="black">
|
| 39 |
-
<color rgba="0 0 0 1" />
|
| 40 |
-
</material>
|
| 41 |
-
</visual>
|
| 42 |
-
<collision>
|
| 43 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 44 |
-
<geometry>
|
| 45 |
-
<mesh filename="meshes/link1.STL" />
|
| 46 |
-
</geometry>
|
| 47 |
-
</collision>
|
| 48 |
-
</link>
|
| 49 |
-
<joint name="joint1" type="revolute">
|
| 50 |
-
<origin xyz="0 0 0.0605" rpy="0 0 0" />
|
| 51 |
-
<parent link="base_link" />
|
| 52 |
-
<child link="link1" />
|
| 53 |
-
<axis xyz="0 0 1" />
|
| 54 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 55 |
-
</joint>
|
| 56 |
-
<link name="link2">
|
| 57 |
-
<inertial>
|
| 58 |
-
<origin xyz="-0.13237 0.0020852 0.00010549" rpy="0 0 0" />
|
| 59 |
-
<mass value="1.0795" />
|
| 60 |
-
<inertia ixx="0.00051" ixy="0.00001" ixz="-0.00004" iyy="0.01599" iyz="0.00000" izz="0.01605" />
|
| 61 |
-
</inertial>
|
| 62 |
-
<visual>
|
| 63 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 64 |
-
<geometry>
|
| 65 |
-
<mesh filename="meshes/link2.STL" />
|
| 66 |
-
</geometry>
|
| 67 |
-
<material name="black">
|
| 68 |
-
<color rgba="0 0 0 1" />
|
| 69 |
-
</material>
|
| 70 |
-
</visual>
|
| 71 |
-
<collision>
|
| 72 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 73 |
-
<geometry>
|
| 74 |
-
<mesh filename="meshes/link2.STL" />
|
| 75 |
-
</geometry>
|
| 76 |
-
</collision>
|
| 77 |
-
</link>
|
| 78 |
-
<joint name="joint2" type="revolute">
|
| 79 |
-
<origin xyz="0.02 0 0.04" rpy="0 0 0" />
|
| 80 |
-
<parent link="link1" />
|
| 81 |
-
<child link="link2" />
|
| 82 |
-
<axis xyz="0 1 0" />
|
| 83 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 84 |
-
</joint>
|
| 85 |
-
<link name="link3">
|
| 86 |
-
<inertial>
|
| 87 |
-
<origin xyz="0.18531 0.00068376 -0.051638" rpy="0 0 0" />
|
| 88 |
-
<mass value="0.54534" />
|
| 89 |
-
<inertia ixx="0.00036" ixy="-0.00003" ixz="-0.00039" iyy="0.00423" iyz="0.00001" izz="0.00420" />
|
| 90 |
-
</inertial>
|
| 91 |
-
<visual>
|
| 92 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 93 |
-
<geometry>
|
| 94 |
-
<mesh filename="meshes/link3.STL" />
|
| 95 |
-
</geometry>
|
| 96 |
-
<material name="white">
|
| 97 |
-
<color rgba="1 1 1 1" />
|
| 98 |
-
</material>
|
| 99 |
-
</visual>
|
| 100 |
-
<collision>
|
| 101 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 102 |
-
<geometry>
|
| 103 |
-
<mesh filename="meshes/link3.STL" />
|
| 104 |
-
</geometry>
|
| 105 |
-
</collision>
|
| 106 |
-
</link>
|
| 107 |
-
<joint name="joint3" type="revolute">
|
| 108 |
-
<origin xyz="-0.264 0 0" rpy="3.1416 0 0" />
|
| 109 |
-
<parent link="link2" />
|
| 110 |
-
<child link="link3" />
|
| 111 |
-
<axis xyz="0 1 0" />
|
| 112 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 113 |
-
</joint>
|
| 114 |
-
<link name="link4">
|
| 115 |
-
<inertial>
|
| 116 |
-
<origin xyz="0.040231 0.0044807 -0.035335" rpy="0 0 0" />
|
| 117 |
-
<mass value="0.11714" />
|
| 118 |
-
<inertia ixx="0.00019" ixy="-0.00002" ixz="-0.00009" iyy="0.00023" iyz="0.00002" izz="0.00014" />
|
| 119 |
-
</inertial>
|
| 120 |
-
<visual>
|
| 121 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 122 |
-
<geometry>
|
| 123 |
-
<mesh filename="meshes/link4.STL" />
|
| 124 |
-
</geometry>
|
| 125 |
-
<material name="black">
|
| 126 |
-
<color rgba="0 0 0 1" />
|
| 127 |
-
</material>
|
| 128 |
-
</visual>
|
| 129 |
-
<collision>
|
| 130 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 131 |
-
<geometry>
|
| 132 |
-
<mesh filename="meshes/link4.STL" />
|
| 133 |
-
</geometry>
|
| 134 |
-
</collision>
|
| 135 |
-
</link>
|
| 136 |
-
<joint name="joint4" type="revolute">
|
| 137 |
-
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 138 |
-
<parent link="link3" />
|
| 139 |
-
<child link="link4" />
|
| 140 |
-
<axis xyz="0 1 0" />
|
| 141 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 142 |
-
</joint>
|
| 143 |
-
<link name="link5">
|
| 144 |
-
<inertial>
|
| 145 |
-
<origin xyz="0.003612 -1.5455E-05 0.055214" rpy="0 0 0" />
|
| 146 |
-
<mass value="0.63488" />
|
| 147 |
-
<inertia ixx="0.00083" ixy="0.00000" ixz="0.00007" iyy="0.00082" iyz="0.00000" izz="0.00026" />
|
| 148 |
-
</inertial>
|
| 149 |
-
<visual>
|
| 150 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 151 |
-
<geometry>
|
| 152 |
-
<mesh filename="meshes/link5.STL" />
|
| 153 |
-
</geometry>
|
| 154 |
-
<material name="black">
|
| 155 |
-
<color rgba="0 0 0 1" />
|
| 156 |
-
</material>
|
| 157 |
-
</visual>
|
| 158 |
-
<collision>
|
| 159 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 160 |
-
<geometry>
|
| 161 |
-
<mesh filename="meshes/link5.STL" />
|
| 162 |
-
</geometry>
|
| 163 |
-
</collision>
|
| 164 |
-
</link>
|
| 165 |
-
<joint name="joint5" type="revolute">
|
| 166 |
-
<origin xyz="0.06775 0.0005 -0.0865" rpy="0 0 0" />
|
| 167 |
-
<parent link="link4" />
|
| 168 |
-
<child link="link5" />
|
| 169 |
-
<axis xyz="0 0 1" />
|
| 170 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 171 |
-
</joint>
|
| 172 |
-
<link name="link6">
|
| 173 |
-
<inertial>
|
| 174 |
-
<origin xyz="0.041697 2.4368E-05 0.00014464" rpy="0 0 0" />
|
| 175 |
-
<mass value="0.44089" />
|
| 176 |
-
<inertia ixx="0.00038" ixy="0.00000" ixz="0.00000" iyy="0.00028" iyz="0.00000" izz="0.00050" />
|
| 177 |
-
</inertial>
|
| 178 |
-
<visual>
|
| 179 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 180 |
-
<geometry>
|
| 181 |
-
<mesh filename="meshes/link6.STL" />
|
| 182 |
-
</geometry>
|
| 183 |
-
<material name="black">
|
| 184 |
-
<color rgba="0 0 0 1" />
|
| 185 |
-
</material>
|
| 186 |
-
</visual>
|
| 187 |
-
<collision>
|
| 188 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 189 |
-
<geometry>
|
| 190 |
-
<mesh filename="meshes/link6.STL" />
|
| 191 |
-
</geometry>
|
| 192 |
-
</collision>
|
| 193 |
-
</link>
|
| 194 |
-
<joint name="joint6" type="revolute">
|
| 195 |
-
<origin xyz="0.02895 0 0.0865" rpy="-3.1416 0 0" />
|
| 196 |
-
<parent link="link5" />
|
| 197 |
-
<child link="link6" />
|
| 198 |
-
<axis xyz="1 0 0" />
|
| 199 |
-
<limit lower="-3.14" upper="3.14" effort="100" velocity="1000" />
|
| 200 |
-
</joint>
|
| 201 |
-
|
| 202 |
-
<link name="camera_base">
|
| 203 |
-
<visual>
|
| 204 |
-
<origin xyz="0 0 0.0" rpy="0 0 0"/>
|
| 205 |
-
<geometry>
|
| 206 |
-
<mesh filename="meshes/camera_base.glb" />
|
| 207 |
-
</geometry>
|
| 208 |
-
</visual>
|
| 209 |
-
</link>
|
| 210 |
-
<joint name="hand_to_camera_mount" type="fixed">
|
| 211 |
-
<parent link="link6"/>
|
| 212 |
-
<child link="camera_base"/>
|
| 213 |
-
<origin xyz="0.057 0 0" rpy="0 0 -3.1416"/>
|
| 214 |
-
</joint>
|
| 215 |
-
|
| 216 |
-
<link name="camera">
|
| 217 |
-
<visual>
|
| 218 |
-
<origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 -0.0"/>
|
| 219 |
-
<geometry>
|
| 220 |
-
<mesh filename="meshes/camera.glb" />
|
| 221 |
-
</geometry>
|
| 222 |
-
</visual>
|
| 223 |
-
</link>
|
| 224 |
-
<joint name="camera_joint" type="fixed">
|
| 225 |
-
<parent link="camera_base"/>
|
| 226 |
-
<child link="camera"/>
|
| 227 |
-
<origin xyz="-0.0275 0.0 0.05" rpy="0 0.3491 3.141592653589793"/>
|
| 228 |
-
</joint>
|
| 229 |
-
|
| 230 |
-
<link name="link7">
|
| 231 |
-
<inertial>
|
| 232 |
-
<origin xyz="-0.00035522 -0.007827 -0.0029883" rpy="0 0 0" />
|
| 233 |
-
<mass value="0.064798" />
|
| 234 |
-
<inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
|
| 235 |
-
</inertial>
|
| 236 |
-
<visual>
|
| 237 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 238 |
-
<geometry>
|
| 239 |
-
<mesh filename="meshes/link7.STL" />
|
| 240 |
-
</geometry>
|
| 241 |
-
<material name="black">
|
| 242 |
-
<color rgba="0 0 0 1" />
|
| 243 |
-
</material>
|
| 244 |
-
</visual>
|
| 245 |
-
<collision>
|
| 246 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 247 |
-
<geometry>
|
| 248 |
-
<mesh filename="meshes/link7.STL" />
|
| 249 |
-
</geometry>
|
| 250 |
-
</collision>
|
| 251 |
-
</link>
|
| 252 |
-
<joint name="joint7" type="prismatic">
|
| 253 |
-
<origin xyz="0.08657 0.024896 -0.0002436" rpy="0 0 0" />
|
| 254 |
-
<parent link="link6" />
|
| 255 |
-
<child link="link7" />
|
| 256 |
-
<axis xyz="0 1 0" />
|
| 257 |
-
<limit lower="0" upper="0.044" effort="100" velocity="1000" />
|
| 258 |
-
</joint>
|
| 259 |
-
<link name="link8">
|
| 260 |
-
<inertial>
|
| 261 |
-
<origin xyz="-0.00035522 0.0078277 0.0024201" rpy="0 0 0" />
|
| 262 |
-
<mass value="0.064798" />
|
| 263 |
-
<inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
|
| 264 |
-
</inertial>
|
| 265 |
-
<visual>
|
| 266 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 267 |
-
<geometry>
|
| 268 |
-
<mesh filename="meshes/link8.STL" />
|
| 269 |
-
</geometry>
|
| 270 |
-
<material name="black">
|
| 271 |
-
<color rgba="0 0 0 1" />
|
| 272 |
-
</material>
|
| 273 |
-
</visual>
|
| 274 |
-
<collision>
|
| 275 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 276 |
-
<geometry>
|
| 277 |
-
<mesh filename="meshes/link8.STL" />
|
| 278 |
-
</geometry>
|
| 279 |
-
</collision>
|
| 280 |
-
</link>
|
| 281 |
-
<joint name="joint8" type="prismatic">
|
| 282 |
-
<origin xyz="0.08657 -0.0249 -0.00024366" rpy="0 0 0" />
|
| 283 |
-
<parent link="link6" />
|
| 284 |
-
<child link="link8" />
|
| 285 |
-
<axis xyz="0 -1 0" />
|
| 286 |
-
<limit lower="0" upper="0.044" effort="100" velocity="1000" />
|
| 287 |
-
</joint>
|
| 288 |
-
</robot>
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7aaa308a1a5b6a213d914db86ba09ddd6252f25cb498ac9a148bfa6c7166a423
|
| 3 |
+
size 9218
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/ARX-X5/collision_X5A.yml
CHANGED
|
@@ -1,84 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
"radius": 0.01504
|
| 5 |
-
- "center": [-0.017, 0.0, 0.027]
|
| 6 |
-
"radius": 0.01423
|
| 7 |
-
- "center": [0.012, 0.012, 0.028]
|
| 8 |
-
"radius": 0.01423
|
| 9 |
-
- "center": [0.008, -0.016, 0.019]
|
| 10 |
-
"radius": 0.01342
|
| 11 |
-
- "center": [0.015, -0.009, 0.022]
|
| 12 |
-
"radius": 0.01342
|
| 13 |
-
- "center": [-0.015, -0.009, 0.021]
|
| 14 |
-
"radius": 0.01342
|
| 15 |
-
- "center": [0.017, 0.002, 0.021]
|
| 16 |
-
"radius": 0.01342
|
| 17 |
-
- "center": [0.005, 0.017, 0.025]
|
| 18 |
-
"radius": 0.01342
|
| 19 |
-
link1:
|
| 20 |
-
- "center": [-0.013, -0.035, 0.006]
|
| 21 |
-
"radius": 0.0145
|
| 22 |
-
- "center": [0.011, -0.035, 0.005]
|
| 23 |
-
"radius": 0.0145
|
| 24 |
-
- "center": [0.004, -0.035, 0.008]
|
| 25 |
-
"radius": 0.01362
|
| 26 |
-
link2:
|
| 27 |
-
- "center": [-0.257, 0.0, 0.0]
|
| 28 |
-
"radius": 0.04
|
| 29 |
-
- "center": [-0.198, 0.0, 0.0]
|
| 30 |
-
"radius": 0.03
|
| 31 |
-
- "center": [-0.164, 0.0, 0.0]
|
| 32 |
-
"radius": 0.03
|
| 33 |
-
- "center": [-0.009, 0.006, -0.015]
|
| 34 |
-
"radius": 0.01357
|
| 35 |
-
- "center": [-0.26, 0.008, 0.017]
|
| 36 |
-
"radius": 0.01357
|
| 37 |
-
- "center": [-0.125, 0.0, 0.0]
|
| 38 |
-
"radius": 0.03
|
| 39 |
-
- "center": [-0.083, 0.0, 0.0]
|
| 40 |
-
"radius": 0.03
|
| 41 |
-
- "center": [-0.044, 0.0, 0.0]
|
| 42 |
-
"radius": 0.03
|
| 43 |
-
- "center": [0.0, 0.0, 0.0]
|
| 44 |
-
"radius": 0.03
|
| 45 |
-
link3:
|
| 46 |
-
- "center": [0.241, -0.0, -0.056]
|
| 47 |
-
"radius": 0.03
|
| 48 |
-
- "center": [0.197, -0.0, -0.053]
|
| 49 |
-
"radius": 0.02
|
| 50 |
-
- "center": [0.157, -0.0, -0.054]
|
| 51 |
-
"radius": 0.02
|
| 52 |
-
- "center": [0.122, -0.0, -0.055]
|
| 53 |
-
"radius": 0.02
|
| 54 |
-
- "center": [0.108, -0.0, -0.051]
|
| 55 |
-
"radius": 0.02
|
| 56 |
-
- "center": [0.071, -0.0, -0.05]
|
| 57 |
-
"radius": 0.02
|
| 58 |
-
- "center": [0.058, -0.0, -0.051]
|
| 59 |
-
"radius": 0.02
|
| 60 |
-
link4:
|
| 61 |
-
- "center": [0.066, -0.0, -0.065]
|
| 62 |
-
"radius": 0.03
|
| 63 |
-
link5:
|
| 64 |
-
- "center": [0.002, 0.0, 0.084]
|
| 65 |
-
"radius": 0.03
|
| 66 |
-
link6:
|
| 67 |
-
- "center": [0.037, 0.001, 0.004]
|
| 68 |
-
"radius": 0.02744
|
| 69 |
-
- "center": [0.036, 0.004, -0.01]
|
| 70 |
-
"radius": 0.02666
|
| 71 |
-
- "center": [0.036, -0.012, 0.003]
|
| 72 |
-
"radius": 0.02587
|
| 73 |
-
- "center": [0.07, 0.072, 0.0]
|
| 74 |
-
"radius": 0.01
|
| 75 |
-
- "center": [0.068, 0.047, 0.0]
|
| 76 |
-
"radius": 0.01
|
| 77 |
-
- "center": [0.07, -0.073, 0.0]
|
| 78 |
-
"radius": 0.01
|
| 79 |
-
- "center": [0.069, -0.052, 0.0]
|
| 80 |
-
"radius": 0.01
|
| 81 |
-
- "center": [0.069, 0.025, 0.0]
|
| 82 |
-
"radius": 0.01
|
| 83 |
-
- "center": [0.071, -0.036, 0.0]
|
| 84 |
-
"radius": 0.01
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f5f196ad5fee4ffb8814a21325692dd33e462258abbaaff5a0484e3481e79543
|
| 3 |
+
size 2347
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/ARX-X5/config.yml
CHANGED
|
@@ -1,54 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
joint_damping: 200
|
| 5 |
-
gripper_stiffnes: 1000
|
| 6 |
-
gripper_damping: 200
|
| 7 |
-
move_group: ["link6","link6"]
|
| 8 |
-
ee_joints: ["joint6","joint6"]
|
| 9 |
-
arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
|
| 10 |
-
['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
|
| 11 |
-
gripper_name:
|
| 12 |
-
- base: "joint7"
|
| 13 |
-
mimic: [["joint8", 1., 0.]]
|
| 14 |
-
- base: "joint7"
|
| 15 |
-
mimic: [["joint8", 1., 0.]]
|
| 16 |
-
gripper_bias: 0.12
|
| 17 |
-
gripper_scale: [-0.01, 0.045]
|
| 18 |
-
homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
|
| 19 |
-
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
|
| 20 |
-
# global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib
|
| 21 |
-
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo
|
| 22 |
-
robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]] # modify
|
| 23 |
-
# planner: "mplib_RRT"
|
| 24 |
-
planner: "curobo"
|
| 25 |
-
dual_arm: False
|
| 26 |
-
grasp_perfect_direction: ['front_right', 'front_left']
|
| 27 |
-
static_camera_list:
|
| 28 |
-
- name: head_camera
|
| 29 |
-
position:
|
| 30 |
-
- -0.032
|
| 31 |
-
- -0.45
|
| 32 |
-
- 1.35
|
| 33 |
-
forward:
|
| 34 |
-
- 0
|
| 35 |
-
- 0.6
|
| 36 |
-
- -0.8
|
| 37 |
-
left:
|
| 38 |
-
- -1
|
| 39 |
-
- 0
|
| 40 |
-
- 0
|
| 41 |
-
# - name: front_camera
|
| 42 |
-
# type: D435
|
| 43 |
-
# position:
|
| 44 |
-
# - 0
|
| 45 |
-
# - -0.45
|
| 46 |
-
# - 0.85
|
| 47 |
-
# forward:
|
| 48 |
-
# - 0
|
| 49 |
-
# - 1
|
| 50 |
-
# - -0.1
|
| 51 |
-
# left:
|
| 52 |
-
# - -1
|
| 53 |
-
# - 0
|
| 54 |
-
# - 0
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0687270bb70652fb80072acbded5f134da4e930463024c856dd4f45aa5f35d03
|
| 3 |
+
size 1202
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/ARX-X5/curobo_tmp.yml
CHANGED
|
@@ -1,70 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
usd_path: null
|
| 5 |
-
usd_robot_root: null
|
| 6 |
-
isaac_usd_path: null
|
| 7 |
-
usd_flip_joints: {}
|
| 8 |
-
usd_flip_joint_limits:
|
| 9 |
-
|
| 10 |
-
urdf_path: ${ASSETS_PATH}/assets/embodiments/ARX-X5/X5A.urdf
|
| 11 |
-
asset_root_path: null
|
| 12 |
-
base_link: "base_link"
|
| 13 |
-
ee_link: "link6"
|
| 14 |
-
collision_link_names:
|
| 15 |
-
[
|
| 16 |
-
"base_link",
|
| 17 |
-
"link1",
|
| 18 |
-
"link2",
|
| 19 |
-
"link3",
|
| 20 |
-
"link4",
|
| 21 |
-
"link5",
|
| 22 |
-
"link6"
|
| 23 |
-
]
|
| 24 |
-
collision_spheres: ${ASSETS_PATH}/assets/embodiments/ARX-X5/collision_X5A.yml
|
| 25 |
-
collision_sphere_buffer: 0.00 # 0.0025
|
| 26 |
-
extra_collision_spheres: null
|
| 27 |
-
use_global_cumul: True
|
| 28 |
-
self_collision_ignore:
|
| 29 |
-
{
|
| 30 |
-
"base_link": ["link1", "link2", "link3"],
|
| 31 |
-
"link1": ["link2", "link3"],
|
| 32 |
-
"link2": ["link3", "link4"],
|
| 33 |
-
"link3": ["link4", "link5", "link6"],
|
| 34 |
-
"link4": ["link5", "link6"],
|
| 35 |
-
"link5": ["link6"],
|
| 36 |
-
}
|
| 37 |
-
|
| 38 |
-
self_collision_buffer:
|
| 39 |
-
{
|
| 40 |
-
"base_link": 0.0,
|
| 41 |
-
"link1": 0.0,
|
| 42 |
-
"link2": 0.0,
|
| 43 |
-
"link3": 0.0,
|
| 44 |
-
"link4": 0.0,
|
| 45 |
-
"link5": 0.0,
|
| 46 |
-
"link6": 0.0
|
| 47 |
-
}
|
| 48 |
-
#link_names: ["panda_link4"]
|
| 49 |
-
mesh_link_names:
|
| 50 |
-
[
|
| 51 |
-
"base_link",
|
| 52 |
-
"link1",
|
| 53 |
-
"link2",
|
| 54 |
-
"link3",
|
| 55 |
-
"link4",
|
| 56 |
-
"link5",
|
| 57 |
-
"link6"
|
| 58 |
-
]
|
| 59 |
-
lock_joints: {}
|
| 60 |
-
extra_links: null
|
| 61 |
-
cspace:
|
| 62 |
-
joint_names: ["joint1","joint2","joint3","joint4", "joint5","joint6"]
|
| 63 |
-
|
| 64 |
-
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
| 65 |
-
null_space_weight: [1,1,1,1,1,1,1]
|
| 66 |
-
cspace_distance_weight: [1,1,1,1,1,1,1]
|
| 67 |
-
max_acceleration: 15.0
|
| 68 |
-
max_jerk: 500.0
|
| 69 |
-
planner:
|
| 70 |
-
frame_bias: [0., 0., 0.]
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b7486ef2ff614c36748a4913399c59e806af02f45a8185d1794fb18ee6c6128
|
| 3 |
+
size 1703
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/collision_aloha_left.yml
CHANGED
|
@@ -1,168 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
- "center": [0.0, 0.0, 0.0]
|
| 5 |
-
"radius": 0.02
|
| 6 |
-
fl_link1:
|
| 7 |
-
- "center": [0.0, 0.0, 0.0]
|
| 8 |
-
"radius": 0.02
|
| 9 |
-
fl_link2:
|
| 10 |
-
- "center": [-0.03, 0.0, 0.0]
|
| 11 |
-
"radius": 0.035
|
| 12 |
-
- "center": [-0.06, 0.0, 0.0]
|
| 13 |
-
"radius": 0.035
|
| 14 |
-
- "center": [-0.09, 0.0, 0.0]
|
| 15 |
-
"radius": 0.035
|
| 16 |
-
- "center": [-0.12, 0.0, 0.0]
|
| 17 |
-
"radius": 0.035
|
| 18 |
-
- "center": [-0.15, 0.0, 0.0]
|
| 19 |
-
"radius": 0.035
|
| 20 |
-
- "center": [-0.18, 0.0, 0.0]
|
| 21 |
-
"radius": 0.035
|
| 22 |
-
- "center": [-0.21, 0.0, 0.0]
|
| 23 |
-
"radius": 0.035
|
| 24 |
-
- "center": [-0.24, 0.0, 0.0]
|
| 25 |
-
"radius": 0.035
|
| 26 |
-
- "center": [-0.25, 0.0, 0.0]
|
| 27 |
-
"radius": 0.035
|
| 28 |
-
- "center": [0.002, -0.001, 0.001]
|
| 29 |
-
"radius": 0.035
|
| 30 |
-
fl_link3:
|
| 31 |
-
- "center": [0.02, 0.0, -0.06]
|
| 32 |
-
"radius": 0.035
|
| 33 |
-
- "center": [0.06, 0.0, -0.06]
|
| 34 |
-
"radius": 0.035
|
| 35 |
-
- "center": [0.01, 0.0, -0.06]
|
| 36 |
-
"radius": 0.035
|
| 37 |
-
- "center": [-0.01, 0.0, -0.06]
|
| 38 |
-
"radius": 0.035
|
| 39 |
-
- "center": [0.014, 0.0, -0.06]
|
| 40 |
-
"radius": 0.035
|
| 41 |
-
- "center": [0.1, 0.0, -0.06]
|
| 42 |
-
"radius": 0.035
|
| 43 |
-
- "center": [0.2, 0.0, -0.06]
|
| 44 |
-
"radius": 0.035
|
| 45 |
-
- "center": [0.15, 0.0, -0.06]
|
| 46 |
-
"radius": 0.035
|
| 47 |
-
- "center": [0.19, 0.0, -0.06]
|
| 48 |
-
"radius": 0.035
|
| 49 |
-
- "center": [0.2, 0.0, -0.06]
|
| 50 |
-
"radius": 0.035
|
| 51 |
-
- "center": [0.23, 0.0, -0.06]
|
| 52 |
-
"radius": 0.035
|
| 53 |
-
- "center": [0.24, 0.0, -0.06]
|
| 54 |
-
"radius": 0.035
|
| 55 |
-
fl_link4:
|
| 56 |
-
- "center": [0.06, 0.0, -0.06]
|
| 57 |
-
"radius": 0.03
|
| 58 |
-
fl_link6:
|
| 59 |
-
- "center": [0.037, 0.003, 0.007]
|
| 60 |
-
"radius": 0.03
|
| 61 |
-
fl_link7:
|
| 62 |
-
- "center": [0.055, -0.013, -0.0]
|
| 63 |
-
"radius": 0.01
|
| 64 |
-
- "center": [0.021, -0.006, -0.0]
|
| 65 |
-
"radius": 0.01
|
| 66 |
-
- "center": [0.0, 0.0, 0.0]
|
| 67 |
-
"radius": 0.01
|
| 68 |
-
- "center": [0.04, -0.007, -0.0]
|
| 69 |
-
"radius": 0.01
|
| 70 |
-
fl_link5:
|
| 71 |
-
- "center": [0.0, 0.0, 0.08]
|
| 72 |
-
"radius": 0.03
|
| 73 |
-
fl_link8:
|
| 74 |
-
- "center": [0.0, 0.0, 0.0]
|
| 75 |
-
"radius": 0.02
|
| 76 |
-
- "center": [0.01, 0.0, 0.0]
|
| 77 |
-
"radius": 0.01
|
| 78 |
-
- "center": [0.03, 0.01, 0.0]
|
| 79 |
-
"radius": 0.01
|
| 80 |
-
- "center": [0.04, 0.013, 0.0]
|
| 81 |
-
"radius": 0.01
|
| 82 |
-
- "center": [0.059, 0.015, 0.0]
|
| 83 |
-
"radius": 0.01
|
| 84 |
-
left_camera:
|
| 85 |
-
- "center": [0.0, 0.0, 0.0]
|
| 86 |
-
"radius": 0.02
|
| 87 |
-
|
| 88 |
-
# ----------- right arm -----------
|
| 89 |
-
fr_base_link:
|
| 90 |
-
- "center": [0.0, 0.0, 0.0]
|
| 91 |
-
"radius": 0.02
|
| 92 |
-
fr_link1:
|
| 93 |
-
- "center": [0.0, 0.0, 0.0]
|
| 94 |
-
"radius": 0.02
|
| 95 |
-
fr_link2:
|
| 96 |
-
- "center": [0.0, 0.0, 0.0]
|
| 97 |
-
"radius": 0.03
|
| 98 |
-
- "center": [-0.03, 0.0, 0.0]
|
| 99 |
-
"radius": 0.03
|
| 100 |
-
- "center": [-0.06, 0.0, 0.0]
|
| 101 |
-
"radius": 0.03
|
| 102 |
-
- "center": [-0.09, 0.0, 0.0]
|
| 103 |
-
"radius": 0.03
|
| 104 |
-
- "center": [-0.12, 0.0, 0.0]
|
| 105 |
-
"radius": 0.03
|
| 106 |
-
- "center": [-0.16, 0.0, 0.0]
|
| 107 |
-
"radius": 0.03
|
| 108 |
-
- "center": [-0.19, 0.0, 0.0]
|
| 109 |
-
"radius": 0.03
|
| 110 |
-
- "center": [-0.21, 0.0, 0.0]
|
| 111 |
-
"radius": 0.03
|
| 112 |
-
fr_link3:
|
| 113 |
-
- "center": [0.04, 0.0, -0.06]
|
| 114 |
-
"radius": 0.03
|
| 115 |
-
- "center": [0.0, 0.0, -0.06]
|
| 116 |
-
"radius": 0.03
|
| 117 |
-
- "center": [0.08, 0.0, -0.06]
|
| 118 |
-
"radius": 0.03
|
| 119 |
-
- "center": [0.12, 0.0, -0.06]
|
| 120 |
-
"radius": 0.03
|
| 121 |
-
- "center": [0.14, 0.0, -0.06]
|
| 122 |
-
"radius": 0.03
|
| 123 |
-
- "center": [0.18, 0.0, -0.06]
|
| 124 |
-
"radius": 0.03
|
| 125 |
-
- "center": [0.22, 0.0, -0.06]
|
| 126 |
-
"radius": 0.03
|
| 127 |
-
- "center": [0.23, 0.0, -0.06]
|
| 128 |
-
"radius": 0.03
|
| 129 |
-
fr_link4:
|
| 130 |
-
- "center": [0.065, 0.001, -0.062]
|
| 131 |
-
"radius": 0.027
|
| 132 |
-
fr_link5:
|
| 133 |
-
- "center": [-0.0, -0.0, 0.077]
|
| 134 |
-
"radius": 0.03
|
| 135 |
-
fr_link6:
|
| 136 |
-
- "center": [0.022, -0.0, -0.0]
|
| 137 |
-
"radius": 0.03
|
| 138 |
-
- "center": [0.05, 0.0, 0.0]
|
| 139 |
-
"radius": 0.01
|
| 140 |
-
- "center": [0.07, 0.0, 0.0]
|
| 141 |
-
"radius": 0.01
|
| 142 |
-
- "center": [0.07, 0.03, 0.0]
|
| 143 |
-
"radius": 0.01
|
| 144 |
-
- "center": [0.07, 0.06, 0.0]
|
| 145 |
-
"radius": 0.01
|
| 146 |
-
- "center": [0.07, -0.03, 0.0]
|
| 147 |
-
"radius": 0.01
|
| 148 |
-
- "center": [0.07, -0.06, 0.0]
|
| 149 |
-
"radius": 0.01
|
| 150 |
-
fr_link7:
|
| 151 |
-
- "center": [0.009, 0.001, 0.0]
|
| 152 |
-
"radius": 0.02
|
| 153 |
-
- "center": [0.057, -0.009, 0.0]
|
| 154 |
-
"radius": 0.01
|
| 155 |
-
- "center": [0.037, -0.007, -0.002]
|
| 156 |
-
"radius": 0.01
|
| 157 |
-
fr_link8:
|
| 158 |
-
- "center": [0.063, 0.015, 0.0]
|
| 159 |
-
"radius": 0.01
|
| 160 |
-
- "center": [0.044, 0.013, 0.0]
|
| 161 |
-
"radius": 0.01
|
| 162 |
-
- "center": [0.005, -0.0, 0.0]
|
| 163 |
-
"radius": 0.02
|
| 164 |
-
right_camera:
|
| 165 |
-
- "center": [0.0, 0.0, 0.0]
|
| 166 |
-
"radius": 0.02
|
| 167 |
-
|
| 168 |
-
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:19e21fbba8b6657ffc6d405ac53b277902ce118821b818aa77aad2e0b0d7f83d
|
| 3 |
+
size 4934
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/collision_aloha_right.yml
CHANGED
|
@@ -1,82 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
- "center": [0.0, 0.0, 0.0]
|
| 5 |
-
"radius": 0.02
|
| 6 |
-
fr_link1:
|
| 7 |
-
- "center": [0.0, 0.0, 0.0]
|
| 8 |
-
"radius": 0.02
|
| 9 |
-
fr_link2:
|
| 10 |
-
- "center": [0.0, 0.0, 0.0]
|
| 11 |
-
"radius": 0.03
|
| 12 |
-
- "center": [-0.03, 0.0, 0.0]
|
| 13 |
-
"radius": 0.03
|
| 14 |
-
- "center": [-0.06, 0.0, 0.0]
|
| 15 |
-
"radius": 0.03
|
| 16 |
-
- "center": [-0.09, 0.0, 0.0]
|
| 17 |
-
"radius": 0.03
|
| 18 |
-
- "center": [-0.12, 0.0, 0.0]
|
| 19 |
-
"radius": 0.03
|
| 20 |
-
- "center": [-0.16, 0.0, 0.0]
|
| 21 |
-
"radius": 0.03
|
| 22 |
-
- "center": [-0.19, 0.0, 0.0]
|
| 23 |
-
"radius": 0.03
|
| 24 |
-
- "center": [-0.21, 0.0, 0.0]
|
| 25 |
-
"radius": 0.03
|
| 26 |
-
fr_link3:
|
| 27 |
-
- "center": [0.04, 0.0, -0.06]
|
| 28 |
-
"radius": 0.03
|
| 29 |
-
- "center": [0.0, 0.0, -0.06]
|
| 30 |
-
"radius": 0.03
|
| 31 |
-
- "center": [0.08, 0.0, -0.06]
|
| 32 |
-
"radius": 0.03
|
| 33 |
-
- "center": [0.12, 0.0, -0.06]
|
| 34 |
-
"radius": 0.03
|
| 35 |
-
- "center": [0.14, 0.0, -0.06]
|
| 36 |
-
"radius": 0.03
|
| 37 |
-
- "center": [0.18, 0.0, -0.06]
|
| 38 |
-
"radius": 0.03
|
| 39 |
-
- "center": [0.22, 0.0, -0.06]
|
| 40 |
-
"radius": 0.03
|
| 41 |
-
- "center": [0.23, 0.0, -0.06]
|
| 42 |
-
"radius": 0.03
|
| 43 |
-
fr_link4:
|
| 44 |
-
- "center": [0.065, 0.001, -0.062]
|
| 45 |
-
"radius": 0.027
|
| 46 |
-
fr_link5:
|
| 47 |
-
- "center": [-0.0, -0.0, 0.077]
|
| 48 |
-
"radius": 0.03
|
| 49 |
-
fr_link6:
|
| 50 |
-
- "center": [0.022, -0.0, -0.0]
|
| 51 |
-
"radius": 0.03
|
| 52 |
-
- "center": [0.05, 0.0, 0.0]
|
| 53 |
-
"radius": 0.01
|
| 54 |
-
- "center": [0.07, 0.0, 0.0]
|
| 55 |
-
"radius": 0.01
|
| 56 |
-
- "center": [0.07, 0.03, 0.0]
|
| 57 |
-
"radius": 0.01
|
| 58 |
-
- "center": [0.07, 0.06, 0.0]
|
| 59 |
-
"radius": 0.01
|
| 60 |
-
- "center": [0.07, -0.03, 0.0]
|
| 61 |
-
"radius": 0.01
|
| 62 |
-
- "center": [0.07, -0.06, 0.0]
|
| 63 |
-
"radius": 0.01
|
| 64 |
-
fr_link7:
|
| 65 |
-
- "center": [0.009, 0.001, 0.0]
|
| 66 |
-
"radius": 0.02
|
| 67 |
-
- "center": [0.057, -0.009, 0.0]
|
| 68 |
-
"radius": 0.01
|
| 69 |
-
- "center": [0.037, -0.007, -0.002]
|
| 70 |
-
"radius": 0.01
|
| 71 |
-
fr_link8:
|
| 72 |
-
- "center": [0.063, 0.015, 0.0]
|
| 73 |
-
"radius": 0.01
|
| 74 |
-
- "center": [0.044, 0.013, 0.0]
|
| 75 |
-
"radius": 0.01
|
| 76 |
-
- "center": [0.005, -0.0, 0.0]
|
| 77 |
-
"radius": 0.02
|
| 78 |
-
right_camera:
|
| 79 |
-
- "center": [0.0, 0.0, 0.0]
|
| 80 |
-
"radius": 0.02
|
| 81 |
-
|
| 82 |
-
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d22850769a5c28fec35434e12ffb597837853cb4dd916b74969e6e615faf5cdd
|
| 3 |
+
size 2340
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/config.yml
CHANGED
|
@@ -1,54 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
joint_damping: 200
|
| 5 |
-
gripper_stiffness: 1000
|
| 6 |
-
gripper_damping: 200
|
| 7 |
-
move_group: ["fl_link6","fr_link6"]
|
| 8 |
-
ee_joints: ["fl_joint6", "fr_joint6"]
|
| 9 |
-
arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]]
|
| 10 |
-
gripper_name:
|
| 11 |
-
- base: "fl_joint7"
|
| 12 |
-
mimic: [["fl_joint8", 1., 0.]]
|
| 13 |
-
- base: "fr_joint7"
|
| 14 |
-
mimic: [["fr_joint8", 1., 0.]]
|
| 15 |
-
gripper_bias: 0.12
|
| 16 |
-
gripper_scale: [-0.01, 0.045]
|
| 17 |
-
homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
|
| 18 |
-
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
|
| 19 |
-
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
|
| 20 |
-
robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]]
|
| 21 |
-
# planner: "mplib_screw"
|
| 22 |
-
planner: "curobo"
|
| 23 |
-
dual_arm: True
|
| 24 |
-
rotate_lim: [0, 1]
|
| 25 |
-
grasp_perfect_direction: ['front_right', 'front_left']
|
| 26 |
-
static_camera_list:
|
| 27 |
-
- name: head_camera
|
| 28 |
-
type: D435
|
| 29 |
-
position:
|
| 30 |
-
- -0.032
|
| 31 |
-
- -0.45
|
| 32 |
-
- 1.35
|
| 33 |
-
forward:
|
| 34 |
-
- 0
|
| 35 |
-
- 0.6
|
| 36 |
-
- -0.8
|
| 37 |
-
left:
|
| 38 |
-
- -1
|
| 39 |
-
- 0
|
| 40 |
-
- 0
|
| 41 |
-
- name: front_camera
|
| 42 |
-
type: D435
|
| 43 |
-
position:
|
| 44 |
-
- 0
|
| 45 |
-
- -0.45
|
| 46 |
-
- 0.85
|
| 47 |
-
forward:
|
| 48 |
-
- 0
|
| 49 |
-
- 1
|
| 50 |
-
- -0.1
|
| 51 |
-
left:
|
| 52 |
-
- -1
|
| 53 |
-
- 0
|
| 54 |
-
- 0
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a4f043d2d4b44cca5ec47fb498a3194da3f87ff9530dcbfdcee1539a44423d57
|
| 3 |
+
size 1210
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/curobo_left_tmp.yml
CHANGED
|
@@ -1,88 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
# usd_path: "FILL_THIS"
|
| 5 |
-
# usd_robot_root: "/robot"
|
| 6 |
-
# isaac_usd_path: ""
|
| 7 |
-
# usd_flip_joints: {}
|
| 8 |
-
# usd_flip_joint_limits: []
|
| 9 |
-
urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
|
| 10 |
-
asset_root_path: null
|
| 11 |
-
|
| 12 |
-
base_link: "fl_base_link"
|
| 13 |
-
ee_link: "fl_link6"
|
| 14 |
-
collision_link_names:
|
| 15 |
-
[
|
| 16 |
-
"fl_base_link",
|
| 17 |
-
"fl_link1",
|
| 18 |
-
"fl_link2",
|
| 19 |
-
"fl_link3",
|
| 20 |
-
"fl_link4",
|
| 21 |
-
"fl_link5",
|
| 22 |
-
"fl_link6",
|
| 23 |
-
"fl_link7",
|
| 24 |
-
"fl_link8",
|
| 25 |
-
"left_camera"
|
| 26 |
-
]
|
| 27 |
-
collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_left.yml
|
| 28 |
-
collision_sphere_buffer: 0.004
|
| 29 |
-
extra_collision_spheres: {}
|
| 30 |
-
use_global_cumul: True
|
| 31 |
-
self_collision_ignore:
|
| 32 |
-
{
|
| 33 |
-
"fl_base_link": ["fl_link1"],
|
| 34 |
-
"fl_link1": ["fl_link2"],
|
| 35 |
-
"fl_link2": ["fl_link3"],
|
| 36 |
-
"fl_link3": ["fl_link4"],
|
| 37 |
-
"fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"],
|
| 38 |
-
"fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"],
|
| 39 |
-
"fl_link6": ["fl_link7", "left_camera", "fl_link8"],
|
| 40 |
-
"fl_link7": ["fl_link8", "left_camera"]
|
| 41 |
-
}
|
| 42 |
-
self_collision_buffer:
|
| 43 |
-
{
|
| 44 |
-
"fl_base_link": 0.00,
|
| 45 |
-
"fl_link1": 0.00,
|
| 46 |
-
"fl_link2": 0.00,
|
| 47 |
-
"fl_link3": 0.00,
|
| 48 |
-
"fl_link4": 0.00,
|
| 49 |
-
"fl_link5": 0.00,
|
| 50 |
-
"fl_link6": 0.00,
|
| 51 |
-
"fl_link7": 0.00,
|
| 52 |
-
"fl_link8": 0.00,
|
| 53 |
-
"left_camera": 0.00
|
| 54 |
-
}
|
| 55 |
-
|
| 56 |
-
mesh_link_names: [
|
| 57 |
-
"fl_base_link",
|
| 58 |
-
"fl_link1",
|
| 59 |
-
"fl_link2",
|
| 60 |
-
"fl_link3",
|
| 61 |
-
"fl_link4",
|
| 62 |
-
"fl_link5",
|
| 63 |
-
"fl_link6",
|
| 64 |
-
"fl_link7",
|
| 65 |
-
"fl_link8",
|
| 66 |
-
"left_camera"
|
| 67 |
-
]
|
| 68 |
-
lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04}
|
| 69 |
-
extra_links: null
|
| 70 |
-
|
| 71 |
-
cspace:
|
| 72 |
-
joint_names: [
|
| 73 |
-
"fl_joint1",
|
| 74 |
-
"fl_joint2",
|
| 75 |
-
"fl_joint3",
|
| 76 |
-
"fl_joint4",
|
| 77 |
-
"fl_joint5",
|
| 78 |
-
"fl_joint6",
|
| 79 |
-
"fl_joint7",
|
| 80 |
-
"fl_joint8"
|
| 81 |
-
]
|
| 82 |
-
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
|
| 83 |
-
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
| 84 |
-
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
| 85 |
-
max_jerk: 100.0
|
| 86 |
-
max_acceleration: 3.0
|
| 87 |
-
planner:
|
| 88 |
-
frame_bias: [-0.2305, -0.297, -0.782]
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5860346baf83c74da3dfacbc548f3165fe6caba5797fd28da158a618576556c8
|
| 3 |
+
size 2383
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/curobo_right_tmp.yml
CHANGED
|
@@ -1,88 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
# usd_path: "FILL_THIS"
|
| 5 |
-
# usd_robot_root: "/robot"
|
| 6 |
-
# isaac_usd_path: ""
|
| 7 |
-
# usd_flip_joints: {}
|
| 8 |
-
# usd_flip_joint_limits: []
|
| 9 |
-
urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
|
| 10 |
-
asset_root_path: null
|
| 11 |
-
|
| 12 |
-
base_link: "fr_base_link"
|
| 13 |
-
ee_link: "fr_link6"
|
| 14 |
-
collision_link_names:
|
| 15 |
-
[
|
| 16 |
-
"fr_base_link",
|
| 17 |
-
"fr_link1",
|
| 18 |
-
"fr_link2",
|
| 19 |
-
"fr_link3",
|
| 20 |
-
"fr_link4",
|
| 21 |
-
"fr_link5",
|
| 22 |
-
"fr_link6",
|
| 23 |
-
"fr_link7",
|
| 24 |
-
"fr_link8",
|
| 25 |
-
"right_camera"
|
| 26 |
-
]
|
| 27 |
-
collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml
|
| 28 |
-
collision_sphere_buffer: 0.004
|
| 29 |
-
extra_collision_spheres: {}
|
| 30 |
-
use_global_cumul: True
|
| 31 |
-
self_collision_ignore:
|
| 32 |
-
{
|
| 33 |
-
"fr_base_link": ["fr_link1"],
|
| 34 |
-
"fr_link1": ["fr_link2"],
|
| 35 |
-
"fr_link2": ["fr_link3"],
|
| 36 |
-
"fr_link3": ["fr_link4"],
|
| 37 |
-
"fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"],
|
| 38 |
-
"fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"],
|
| 39 |
-
"fr_link6": ["fr_link7", "right_camera", "fr_link8"],
|
| 40 |
-
"fr_link7": ["fr_link8", "right_camera"]
|
| 41 |
-
}
|
| 42 |
-
self_collision_buffer:
|
| 43 |
-
{
|
| 44 |
-
"fr_base_link": 0.00,
|
| 45 |
-
"fr_link1": 0.00,
|
| 46 |
-
"fr_link2": 0.00,
|
| 47 |
-
"fr_link3": 0.00,
|
| 48 |
-
"fr_link4": 0.00,
|
| 49 |
-
"fr_link5": 0.00,
|
| 50 |
-
"fr_link6": 0.00,
|
| 51 |
-
"fr_link7": 0.00,
|
| 52 |
-
"fr_link8": 0.00,
|
| 53 |
-
"right_camera": 0.00
|
| 54 |
-
}
|
| 55 |
-
|
| 56 |
-
mesh_link_names: [
|
| 57 |
-
"fr_base_link",
|
| 58 |
-
"fr_link1",
|
| 59 |
-
"fr_link2",
|
| 60 |
-
"fr_link3",
|
| 61 |
-
"fr_link4",
|
| 62 |
-
"fr_link5",
|
| 63 |
-
"fr_link6",
|
| 64 |
-
"fr_link7",
|
| 65 |
-
"fr_link8",
|
| 66 |
-
"right_camera"
|
| 67 |
-
]
|
| 68 |
-
lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04}
|
| 69 |
-
extra_links: null
|
| 70 |
-
|
| 71 |
-
cspace:
|
| 72 |
-
joint_names: [
|
| 73 |
-
"fr_joint1",
|
| 74 |
-
"fr_joint2",
|
| 75 |
-
"fr_joint3",
|
| 76 |
-
"fr_joint4",
|
| 77 |
-
"fr_joint5",
|
| 78 |
-
"fr_joint6",
|
| 79 |
-
"fr_joint7",
|
| 80 |
-
"fr_joint8"
|
| 81 |
-
]
|
| 82 |
-
retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
|
| 83 |
-
null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
| 84 |
-
cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
|
| 85 |
-
max_jerk: 100.0
|
| 86 |
-
max_acceleration: 3.0
|
| 87 |
-
planner:
|
| 88 |
-
frame_bias: [-0.2315, 0.3063, -0.781]
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bebc418e0bb02cc70a4cb124b9cda6c4c12ce27c5bdbf1b4153654d781fb62f8
|
| 3 |
+
size 2391
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/meshes/base_arm.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/base_arm.STL and b/embodiments/aloha-agilex/meshes/base_arm.STL differ
|
|
|
embodiments/aloha-agilex/meshes/box1_Link.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/box1_Link.STL and b/embodiments/aloha-agilex/meshes/box1_Link.STL differ
|
|
|
embodiments/aloha-agilex/meshes/caster.stl
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/caster.stl and b/embodiments/aloha-agilex/meshes/caster.stl differ
|
|
|
embodiments/aloha-agilex/meshes/caster_L.stl
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/caster_L.stl and b/embodiments/aloha-agilex/meshes/caster_L.stl differ
|
|
|
embodiments/aloha-agilex/meshes/castor.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/meshes/castor_joint.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/meshes/link7.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/link7.STL and b/embodiments/aloha-agilex/meshes/link7.STL differ
|
|
|
embodiments/aloha-agilex/meshes/link8.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/meshes/link8.STL and b/embodiments/aloha-agilex/meshes/link8.STL differ
|
|
|
embodiments/aloha-agilex/meshes/right_cam_link.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/meshes/tracer_wheel.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/srdf/arx5_description_isaac.srdf
CHANGED
|
@@ -1,401 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
| 5 |
-
-->
|
| 6 |
-
<robot name="arx5_description">
|
| 7 |
-
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
| 8 |
-
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
| 9 |
-
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
| 10 |
-
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
| 11 |
-
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
| 12 |
-
<group name="fl_arm">
|
| 13 |
-
<joint name="fl_base_joint"/>
|
| 14 |
-
<joint name="fl_joint1"/>
|
| 15 |
-
<joint name="fl_joint2"/>
|
| 16 |
-
<joint name="fl_joint3"/>
|
| 17 |
-
<joint name="fl_joint4"/>
|
| 18 |
-
<joint name="fl_joint5"/>
|
| 19 |
-
<joint name="fl_joint6"/>
|
| 20 |
-
<chain base_link="fl_base_link" tip_link="fl_link6"/>
|
| 21 |
-
</group>
|
| 22 |
-
<group name="fr_arm">
|
| 23 |
-
<joint name="fr_base_joint"/>
|
| 24 |
-
<joint name="fr_joint1"/>
|
| 25 |
-
<joint name="fr_joint2"/>
|
| 26 |
-
<joint name="fr_joint3"/>
|
| 27 |
-
<joint name="fr_joint4"/>
|
| 28 |
-
<joint name="fr_joint5"/>
|
| 29 |
-
<joint name="fr_joint6"/>
|
| 30 |
-
<chain base_link="fr_base_link" tip_link="fr_link6"/>
|
| 31 |
-
</group>
|
| 32 |
-
<!-- <group name="lr_arm">
|
| 33 |
-
<joint name="lr_base_joint"/>
|
| 34 |
-
<joint name="lr_joint1"/>
|
| 35 |
-
<joint name="lr_joint2"/>
|
| 36 |
-
<joint name="lr_joint3"/>
|
| 37 |
-
<joint name="lr_joint4"/>
|
| 38 |
-
<joint name="lr_joint5"/>
|
| 39 |
-
<joint name="lr_joint6"/>
|
| 40 |
-
<chain base_link="lr_base_link" tip_link="lr_link6"/>
|
| 41 |
-
</group> -->
|
| 42 |
-
<!-- <group name="rr_arm">
|
| 43 |
-
<joint name="rr_base_joint"/>
|
| 44 |
-
<joint name="rr_joint1"/>
|
| 45 |
-
<joint name="rr_joint2"/>
|
| 46 |
-
<joint name="rr_joint3"/>
|
| 47 |
-
<joint name="rr_joint4"/>
|
| 48 |
-
<joint name="rr_joint5"/>
|
| 49 |
-
<joint name="rr_joint6"/>
|
| 50 |
-
<chain base_link="rr_base_link" tip_link="rr_link6"/>
|
| 51 |
-
</group> -->
|
| 52 |
-
<group name="fl_gripper">
|
| 53 |
-
<joint name="fl_joint7"/>
|
| 54 |
-
<joint name="fl_joint8"/>
|
| 55 |
-
</group>
|
| 56 |
-
<group name="fr_gripper">
|
| 57 |
-
<joint name="fr_joint7"/>
|
| 58 |
-
<joint name="fr_joint8"/>
|
| 59 |
-
</group>
|
| 60 |
-
<!-- <group name="lr_gripper">
|
| 61 |
-
<joint name="lr_joint7"/>
|
| 62 |
-
<joint name="lr_joint8"/>
|
| 63 |
-
</group>
|
| 64 |
-
<group name="rr_gripper">
|
| 65 |
-
<joint name="rr_joint7"/>
|
| 66 |
-
<joint name="rr_joint8"/>
|
| 67 |
-
</group> -->
|
| 68 |
-
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
|
| 69 |
-
<group_state name="home" group="fl_arm"/>
|
| 70 |
-
<group_state name="home" group="fr_arm"/>
|
| 71 |
-
<!-- <group_state name="home" group="lr_arm">
|
| 72 |
-
<joint name="lr_joint1" value="0"/>
|
| 73 |
-
<joint name="lr_joint2" value="0"/>
|
| 74 |
-
<joint name="lr_joint3" value="0"/>
|
| 75 |
-
<joint name="lr_joint4" value="0"/>
|
| 76 |
-
<joint name="lr_joint5" value="0"/>
|
| 77 |
-
<joint name="lr_joint6" value="0"/>
|
| 78 |
-
</group_state> -->
|
| 79 |
-
<!-- <group_state name="home" group="rr_arm">
|
| 80 |
-
<joint name="rr_joint1" value="0"/>
|
| 81 |
-
<joint name="rr_joint2" value="0"/>
|
| 82 |
-
<joint name="rr_joint3" value="0"/>
|
| 83 |
-
<joint name="rr_joint4" value="0"/>
|
| 84 |
-
<joint name="rr_joint5" value="0"/>
|
| 85 |
-
<joint name="rr_joint6" value="0"/>
|
| 86 |
-
</group_state> -->
|
| 87 |
-
<group_state name="close" group="fl_gripper">
|
| 88 |
-
<joint name="fl_joint7" value="0"/>
|
| 89 |
-
<joint name="fl_joint8" value="0"/>
|
| 90 |
-
</group_state>
|
| 91 |
-
<group_state name="open" group="fl_gripper">
|
| 92 |
-
<joint name="fl_joint7" value="0.0476"/>
|
| 93 |
-
<joint name="fl_joint8" value="0.0476"/>
|
| 94 |
-
</group_state>
|
| 95 |
-
<group_state name="close" group="fr_gripper">
|
| 96 |
-
<joint name="fr_joint7" value="0"/>
|
| 97 |
-
<joint name="fr_joint8" value="0"/>
|
| 98 |
-
</group_state>
|
| 99 |
-
<group_state name="open" group="fr_gripper">
|
| 100 |
-
<joint name="fr_joint7" value="0.0476"/>
|
| 101 |
-
<joint name="fr_joint8" value="0.0476"/>
|
| 102 |
-
</group_state>
|
| 103 |
-
<!-- <group_state name="close" group="lr_gripper">
|
| 104 |
-
<joint name="lr_joint7" value="0"/>
|
| 105 |
-
<joint name="lr_joint8" value="0"/>
|
| 106 |
-
</group_state>
|
| 107 |
-
<group_state name="open" group="lr_gripper">
|
| 108 |
-
<joint name="lr_joint7" value="0.0476"/>
|
| 109 |
-
<joint name="lr_joint8" value="0.0476"/>
|
| 110 |
-
</group_state>
|
| 111 |
-
<group_state name="close" group="rr_gripper">
|
| 112 |
-
<joint name="rr_joint7" value="0"/>
|
| 113 |
-
<joint name="rr_joint8" value="0"/>
|
| 114 |
-
</group_state>
|
| 115 |
-
<group_state name="open" group="rr_gripper">
|
| 116 |
-
<joint name="rr_joint7" value="0.0476"/>
|
| 117 |
-
<joint name="rr_joint8" value="0.0476"/>
|
| 118 |
-
</group_state> -->
|
| 119 |
-
|
| 120 |
-
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
| 121 |
-
|
| 122 |
-
<disable_collisions link1="box" link2="box1_Link" reason="Default"/>
|
| 123 |
-
<disable_collisions link1="box" link2="box2_Link" reason="Never"/>
|
| 124 |
-
<disable_collisions link1="box" link2="fl_base_link" reason="Never"/>
|
| 125 |
-
<disable_collisions link1="box" link2="fl_link1" reason="Never"/>
|
| 126 |
-
<disable_collisions link1="box" link2="fl_link2" reason="Never"/>
|
| 127 |
-
<disable_collisions link1="box" link2="fl_link3" reason="Never"/>
|
| 128 |
-
<disable_collisions link1="box" link2="fl_link4" reason="Never"/>
|
| 129 |
-
<disable_collisions link1="box" link2="fl_link5" reason="Never"/>
|
| 130 |
-
<disable_collisions link1="box" link2="fl_link6" reason="Never"/>
|
| 131 |
-
<disable_collisions link1="box" link2="fl_link7" reason="Never"/>
|
| 132 |
-
<disable_collisions link1="box" link2="left_camera" reason="Never"/>
|
| 133 |
-
<disable_collisions link1="box" link2="fr_base_link" reason="Never"/>
|
| 134 |
-
<disable_collisions link1="box" link2="fr_link1" reason="Never"/>
|
| 135 |
-
<disable_collisions link1="box" link2="fr_link2" reason="Never"/>
|
| 136 |
-
<disable_collisions link1="box" link2="fr_link3" reason="Never"/>
|
| 137 |
-
<disable_collisions link1="box" link2="fr_link4" reason="Never"/>
|
| 138 |
-
<disable_collisions link1="box" link2="fr_link5" reason="Never"/>
|
| 139 |
-
<disable_collisions link1="box" link2="fr_link6" reason="Never"/>
|
| 140 |
-
<disable_collisions link1="box" link2="fr_link7" reason="Never"/>
|
| 141 |
-
<disable_collisions link1="box" link2="fr_link8" reason="Never"/>
|
| 142 |
-
|
| 143 |
-
<disable_collisions link1="box" link2="world" reason="Adjacent"/>
|
| 144 |
-
<disable_collisions link1="box1_Link" link2="box2_Link" reason="Adjacent"/>
|
| 145 |
-
<disable_collisions link1="box1_Link" link2="fl_base_link" reason="Never"/>
|
| 146 |
-
<disable_collisions link1="box1_Link" link2="fl_link1" reason="Never"/>
|
| 147 |
-
<disable_collisions link1="box1_Link" link2="fl_link2" reason="Never"/>
|
| 148 |
-
<disable_collisions link1="box1_Link" link2="fl_link3" reason="Never"/>
|
| 149 |
-
<disable_collisions link1="box1_Link" link2="fl_link4" reason="Never"/>
|
| 150 |
-
<disable_collisions link1="box1_Link" link2="fl_link5" reason="Never"/>
|
| 151 |
-
<disable_collisions link1="box1_Link" link2="fl_link6" reason="Never"/>
|
| 152 |
-
<disable_collisions link1="box1_Link" link2="fl_link7" reason="Never"/>
|
| 153 |
-
<disable_collisions link1="box1_Link" link2="left_camera" reason="Never"/>
|
| 154 |
-
<disable_collisions link1="box1_Link" link2="fl_link8" reason="Never"/>
|
| 155 |
-
<disable_collisions link1="box1_Link" link2="fr_base_link" reason="Never"/>
|
| 156 |
-
<disable_collisions link1="box1_Link" link2="fr_link1" reason="Never"/>
|
| 157 |
-
<disable_collisions link1="box1_Link" link2="fr_link2" reason="Never"/>
|
| 158 |
-
<disable_collisions link1="box1_Link" link2="fr_link3" reason="Never"/>
|
| 159 |
-
<disable_collisions link1="box1_Link" link2="fr_link4" reason="Never"/>
|
| 160 |
-
<disable_collisions link1="box1_Link" link2="fr_link5" reason="Never"/>
|
| 161 |
-
<disable_collisions link1="box1_Link" link2="fr_link6" reason="Never"/>
|
| 162 |
-
<disable_collisions link1="box1_Link" link2="fr_link7" reason="Never"/>
|
| 163 |
-
<disable_collisions link1="box1_Link" link2="fr_link8" reason="Never"/>
|
| 164 |
-
|
| 165 |
-
<disable_collisions link1="box1_Link" link2="world" reason="Adjacent"/>
|
| 166 |
-
<disable_collisions link1="box2_Link" link2="fl_base_link" reason="Never"/>
|
| 167 |
-
<disable_collisions link1="box2_Link" link2="fl_link1" reason="Never"/>
|
| 168 |
-
<disable_collisions link1="box2_Link" link2="fr_base_link" reason="Never"/>
|
| 169 |
-
<disable_collisions link1="box2_Link" link2="fr_link1" reason="Never"/>
|
| 170 |
-
|
| 171 |
-
<disable_collisions link1="box2_Link" link2="world" reason="Never"/>
|
| 172 |
-
<disable_collisions link1="fl_base_link" link2="fl_link1" reason="Adjacent"/>
|
| 173 |
-
<disable_collisions link1="fl_base_link" link2="fr_base_link" reason="Never"/>
|
| 174 |
-
<disable_collisions link1="fl_base_link" link2="fr_link1" reason="Never"/>
|
| 175 |
-
<disable_collisions link1="fl_base_link" link2="fr_link2" reason="Never"/>
|
| 176 |
-
<disable_collisions link1="fl_base_link" link2="fr_link3" reason="Never"/>
|
| 177 |
-
|
| 178 |
-
<disable_collisions link1="fl_base_link" link2="world" reason="Adjacent"/>
|
| 179 |
-
<disable_collisions link1="fl_link1" link2="fl_link2" reason="Adjacent"/>
|
| 180 |
-
<disable_collisions link1="fl_link1" link2="fr_base_link" reason="Never"/>
|
| 181 |
-
<disable_collisions link1="fl_link1" link2="fr_link1" reason="Never"/>
|
| 182 |
-
<disable_collisions link1="fl_link1" link2="fr_link2" reason="Never"/>
|
| 183 |
-
<disable_collisions link1="fl_link1" link2="fr_link3" reason="Never"/>
|
| 184 |
-
<disable_collisions link1="fl_link1" link2="fr_link6" reason="Never"/>
|
| 185 |
-
|
| 186 |
-
<disable_collisions link1="fl_link1" link2="world" reason="Never"/>
|
| 187 |
-
<disable_collisions link1="fl_link2" link2="fl_link3" reason="Adjacent"/>
|
| 188 |
-
<disable_collisions link1="fl_link2" link2="fr_base_link" reason="Never"/>
|
| 189 |
-
<disable_collisions link1="fl_link2" link2="fr_link1" reason="Never"/>
|
| 190 |
-
<disable_collisions link1="fl_link2" link2="fr_link2" reason="Never"/>
|
| 191 |
-
|
| 192 |
-
<disable_collisions link1="fl_link2" link2="world" reason="Never"/>
|
| 193 |
-
<disable_collisions link1="fl_link3" link2="fl_link4" reason="Adjacent"/>
|
| 194 |
-
<disable_collisions link1="fl_link3" link2="fr_base_link" reason="Never"/>
|
| 195 |
-
<disable_collisions link1="fl_link3" link2="fr_link1" reason="Never"/>
|
| 196 |
-
<!-- <disable_collisions link1="fl_link3" link2="rr_base_link" reason="Never"/>
|
| 197 |
-
<disable_collisions link1="fl_link3" link2="rr_link1" reason="Never"/>
|
| 198 |
-
<disable_collisions link1="fl_link3" link2="rr_link2" reason="Never"/>
|
| 199 |
-
<disable_collisions link1="fl_link3" link2="rr_link7" reason="Never"/>
|
| 200 |
-
<disable_collisions link1="fl_link3" link2="rr_link8" reason="Never"/> -->
|
| 201 |
-
<disable_collisions link1="fl_link3" link2="world" reason="Never"/>
|
| 202 |
-
<disable_collisions link1="fl_link4" link2="fl_link5" reason="Adjacent"/>
|
| 203 |
-
<disable_collisions link1="fl_link4" link2="fl_link7" reason="Never"/>
|
| 204 |
-
<disable_collisions link1="fl_link4" link2="left_camera" reason="Never"/>
|
| 205 |
-
<disable_collisions link1="fl_link4" link2="fl_link8" reason="Never"/>
|
| 206 |
-
<!-- <disable_collisions link1="fl_link4" link2="rr_base_link" reason="Never"/>
|
| 207 |
-
<disable_collisions link1="fl_link4" link2="rr_link1" reason="Never"/>
|
| 208 |
-
<disable_collisions link1="fl_link4" link2="rr_link2" reason="Never"/>
|
| 209 |
-
<disable_collisions link1="fl_link4" link2="rr_link6" reason="Never"/>
|
| 210 |
-
<disable_collisions link1="fl_link4" link2="rr_link7" reason="Never"/>
|
| 211 |
-
<disable_collisions link1="fl_link4" link2="rr_link8" reason="Never"/> -->
|
| 212 |
-
<disable_collisions link1="fl_link4" link2="world" reason="Never"/>
|
| 213 |
-
<disable_collisions link1="fl_link5" link2="fl_link6" reason="Adjacent"/>
|
| 214 |
-
<disable_collisions link1="fl_link5" link2="fl_link7" reason="Never"/>
|
| 215 |
-
<disable_collisions link1="fl_link5" link2="left_camera" reason="Never"/>
|
| 216 |
-
<disable_collisions link1="fl_link5" link2="fl_link8" reason="Never"/>
|
| 217 |
-
<!-- <disable_collisions link1="fl_link5" link2="rr_base_link" reason="Never"/>
|
| 218 |
-
<disable_collisions link1="fl_link5" link2="rr_link1" reason="Never"/>
|
| 219 |
-
<disable_collisions link1="fl_link5" link2="rr_link2" reason="Never"/>
|
| 220 |
-
<disable_collisions link1="fl_link5" link2="rr_link4" reason="Never"/>
|
| 221 |
-
<disable_collisions link1="fl_link5" link2="rr_link7" reason="Never"/> -->
|
| 222 |
-
<disable_collisions link1="fl_link5" link2="world" reason="Never"/>
|
| 223 |
-
<disable_collisions link1="fl_link6" link2="fl_link7" reason="Adjacent"/>
|
| 224 |
-
<disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
|
| 225 |
-
<disable_collisions link1="fl_link6" link2="fl_link8" reason="Adjacent"/>
|
| 226 |
-
<disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
|
| 227 |
-
<!-- <disable_collisions link1="fl_link6" link2="rr_base_link" reason="Never"/>
|
| 228 |
-
<disable_collisions link1="fl_link6" link2="rr_link1" reason="Never"/>
|
| 229 |
-
<disable_collisions link1="fl_link6" link2="rr_link2" reason="Never"/>
|
| 230 |
-
<disable_collisions link1="fl_link6" link2="rr_link4" reason="Never"/>
|
| 231 |
-
<disable_collisions link1="fl_link6" link2="rr_link5" reason="Never"/>
|
| 232 |
-
<disable_collisions link1="fl_link6" link2="rr_link6" reason="Never"/>
|
| 233 |
-
<disable_collisions link1="fl_link6" link2="rr_link7" reason="Never"/> -->
|
| 234 |
-
<disable_collisions link1="fl_link6" link2="world" reason="Never"/>
|
| 235 |
-
<disable_collisions link1="fl_link7" link2="fl_link8" reason="Never"/>
|
| 236 |
-
<disable_collisions link1="fl_link7" link2="lef_camera" reason="Never"/>
|
| 237 |
-
<!-- <disable_collisions link1="fl_link7" link2="rr_base_link" reason="Never"/>
|
| 238 |
-
<disable_collisions link1="fl_link7" link2="rr_link1" reason="Never"/>
|
| 239 |
-
<disable_collisions link1="fl_link7" link2="rr_link2" reason="Never"/>
|
| 240 |
-
<disable_collisions link1="fl_link7" link2="rr_link4" reason="Never"/>
|
| 241 |
-
<disable_collisions link1="fl_link7" link2="rr_link5" reason="Never"/>
|
| 242 |
-
<disable_collisions link1="fl_link7" link2="rr_link6" reason="Never"/> -->
|
| 243 |
-
<disable_collisions link1="fl_link7" link2="world" reason="Never"/>
|
| 244 |
-
<disable_collisions link1="fl_link8" link2="fr_link8" reason="Never"/>
|
| 245 |
-
<!-- <disable_collisions link1="fl_link8" link2="rr_base_link" reason="Never"/>
|
| 246 |
-
<disable_collisions link1="fl_link8" link2="rr_link1" reason="Never"/>
|
| 247 |
-
<disable_collisions link1="fl_link8" link2="rr_link2" reason="Never"/>
|
| 248 |
-
<disable_collisions link1="fl_link8" link2="rr_link3" reason="Never"/>
|
| 249 |
-
<disable_collisions link1="fl_link8" link2="rr_link4" reason="Never"/>
|
| 250 |
-
<disable_collisions link1="fl_link8" link2="rr_link5" reason="Never"/>
|
| 251 |
-
<disable_collisions link1="fl_link8" link2="rr_link6" reason="Never"/>
|
| 252 |
-
<disable_collisions link1="fl_link8" link2="rr_link7" reason="Never"/>
|
| 253 |
-
<disable_collisions link1="fl_link8" link2="rr_link8" reason="Never"/> -->
|
| 254 |
-
<disable_collisions link1="fl_link8" link2="world" reason="Never"/>
|
| 255 |
-
<disable_collisions link1="fr_base_link" link2="fr_link1" reason="Adjacent"/>
|
| 256 |
-
<!-- <disable_collisions link1="fr_base_link" link2="lr_base_link" reason="Never"/>
|
| 257 |
-
<disable_collisions link1="fr_base_link" link2="lr_link1" reason="Never"/>
|
| 258 |
-
<disable_collisions link1="fr_base_link" link2="lr_link2" reason="Never"/>
|
| 259 |
-
<disable_collisions link1="fr_base_link" link2="lr_link3" reason="Never"/>
|
| 260 |
-
<disable_collisions link1="fr_base_link" link2="lr_link4" reason="Never"/>
|
| 261 |
-
<disable_collisions link1="fr_base_link" link2="lr_link5" reason="Never"/>
|
| 262 |
-
<disable_collisions link1="fr_base_link" link2="lr_link6" reason="Never"/>
|
| 263 |
-
<disable_collisions link1="fr_base_link" link2="lr_link7" reason="Never"/>
|
| 264 |
-
<disable_collisions link1="fr_base_link" link2="lr_link8" reason="Never"/> -->
|
| 265 |
-
<!-- <disable_collisions link1="fr_base_link" link2="rr_base_link" reason="Never"/>
|
| 266 |
-
<disable_collisions link1="fr_base_link" link2="rr_link1" reason="Never"/>
|
| 267 |
-
<disable_collisions link1="fr_base_link" link2="rr_link2" reason="Never"/>
|
| 268 |
-
<disable_collisions link1="fr_base_link" link2="rr_link3" reason="Never"/> -->
|
| 269 |
-
<disable_collisions link1="fr_base_link" link2="world" reason="Adjacent"/>
|
| 270 |
-
<disable_collisions link1="fr_link1" link2="fr_link2" reason="Adjacent"/>
|
| 271 |
-
<!-- <disable_collisions link1="fr_link1" link2="lr_base_link" reason="Never"/>
|
| 272 |
-
<disable_collisions link1="fr_link1" link2="lr_link1" reason="Never"/>
|
| 273 |
-
<disable_collisions link1="fr_link1" link2="lr_link2" reason="Never"/>
|
| 274 |
-
<disable_collisions link1="fr_link1" link2="lr_link3" reason="Never"/>
|
| 275 |
-
<disable_collisions link1="fr_link1" link2="lr_link4" reason="Never"/>
|
| 276 |
-
<disable_collisions link1="fr_link1" link2="lr_link5" reason="Never"/>
|
| 277 |
-
<disable_collisions link1="fr_link1" link2="lr_link6" reason="Never"/>
|
| 278 |
-
<disable_collisions link1="fr_link1" link2="lr_link7" reason="Never"/>
|
| 279 |
-
<disable_collisions link1="fr_link1" link2="lr_link8" reason="Never"/> -->
|
| 280 |
-
<disable_collisions link1="fr_link1" link2="rr_base_link" reason="Never"/>
|
| 281 |
-
<disable_collisions link1="fr_link1" link2="rr_link1" reason="Never"/>
|
| 282 |
-
<disable_collisions link1="fr_link1" link2="rr_link2" reason="Never"/>
|
| 283 |
-
<disable_collisions link1="fr_link1" link2="world" reason="Never"/>
|
| 284 |
-
<disable_collisions link1="fr_link2" link2="fr_link3" reason="Adjacent"/>
|
| 285 |
-
<!-- <disable_collisions link1="fr_link2" link2="lr_base_link" reason="Never"/>
|
| 286 |
-
<disable_collisions link1="fr_link2" link2="lr_link1" reason="Never"/>
|
| 287 |
-
<disable_collisions link1="fr_link2" link2="lr_link2" reason="Never"/>
|
| 288 |
-
<disable_collisions link1="fr_link2" link2="lr_link3" reason="Never"/>
|
| 289 |
-
<disable_collisions link1="fr_link2" link2="lr_link4" reason="Never"/>
|
| 290 |
-
<disable_collisions link1="fr_link2" link2="lr_link5" reason="Never"/>
|
| 291 |
-
<disable_collisions link1="fr_link2" link2="lr_link6" reason="Never"/>
|
| 292 |
-
<disable_collisions link1="fr_link2" link2="lr_link7" reason="Never"/>
|
| 293 |
-
<disable_collisions link1="fr_link2" link2="lr_link8" reason="Never"/> -->
|
| 294 |
-
<!-- <disable_collisions link1="fr_link2" link2="rr_base_link" reason="Never"/>
|
| 295 |
-
<disable_collisions link1="fr_link2" link2="rr_link1" reason="Never"/> -->
|
| 296 |
-
<disable_collisions link1="fr_link2" link2="world" reason="Never"/>
|
| 297 |
-
<disable_collisions link1="fr_link3" link2="fr_link4" reason="Adjacent"/>
|
| 298 |
-
<!-- <disable_collisions link1="fr_link3" link2="lr_base_link" reason="Never"/>
|
| 299 |
-
<disable_collisions link1="fr_link3" link2="lr_link1" reason="Never"/>
|
| 300 |
-
<disable_collisions link1="fr_link3" link2="lr_link2" reason="Never"/>
|
| 301 |
-
<disable_collisions link1="fr_link3" link2="lr_link7" reason="Never"/> -->
|
| 302 |
-
<disable_collisions link1="fr_link3" link2="world" reason="Never"/>
|
| 303 |
-
<disable_collisions link1="fr_link4" link2="fr_link5" reason="Adjacent"/>
|
| 304 |
-
<disable_collisions link1="fr_link4" link2="fr_link7" reason="Never"/>
|
| 305 |
-
<disable_collisions link1="fr_link4" link2="fr_link8" reason="Never"/>
|
| 306 |
-
<!-- <disable_collisions link1="fr_link4" link2="lr_base_link" reason="Never"/>
|
| 307 |
-
<disable_collisions link1="fr_link4" link2="lr_link1" reason="Never"/>
|
| 308 |
-
<disable_collisions link1="fr_link4" link2="lr_link2" reason="Never"/>
|
| 309 |
-
<disable_collisions link1="fr_link4" link2="lr_link7" reason="Never"/>
|
| 310 |
-
<disable_collisions link1="fr_link4" link2="lr_link8" reason="Never"/> -->
|
| 311 |
-
<disable_collisions link1="fr_link4" link2="world" reason="Never"/>
|
| 312 |
-
<disable_collisions link1="fr_link5" link2="fr_link6" reason="Adjacent"/>
|
| 313 |
-
<disable_collisions link1="fr_link5" link2="fr_link7" reason="Never"/>
|
| 314 |
-
<disable_collisions link1="fr_link5" link2="fr_link8" reason="Never"/>
|
| 315 |
-
<!-- <disable_collisions link1="fr_link5" link2="lr_base_link" reason="Never"/>
|
| 316 |
-
<disable_collisions link1="fr_link5" link2="lr_link1" reason="Never"/>
|
| 317 |
-
<disable_collisions link1="fr_link5" link2="lr_link2" reason="Never"/>
|
| 318 |
-
<disable_collisions link1="fr_link5" link2="lr_link3" reason="Never"/>
|
| 319 |
-
<disable_collisions link1="fr_link5" link2="lr_link8" reason="Never"/> -->
|
| 320 |
-
<disable_collisions link1="fr_link5" link2="world" reason="Never"/>
|
| 321 |
-
<disable_collisions link1="fr_link6" link2="fr_link7" reason="Adjacent"/>
|
| 322 |
-
<disable_collisions link1="fr_link6" link2="fr_link8" reason="Adjacent"/>
|
| 323 |
-
<!-- <disable_collisions link1="fr_link6" link2="lr_base_link" reason="Never"/>
|
| 324 |
-
<disable_collisions link1="fr_link6" link2="lr_link1" reason="Never"/>
|
| 325 |
-
<disable_collisions link1="fr_link6" link2="lr_link2" reason="Never"/> -->
|
| 326 |
-
<disable_collisions link1="fr_link6" link2="world" reason="Never"/>
|
| 327 |
-
<disable_collisions link1="fr_link7" link2="fr_link8" reason="Never"/>
|
| 328 |
-
<!-- <disable_collisions link1="fr_link7" link2="lr_base_link" reason="Never"/>
|
| 329 |
-
<disable_collisions link1="fr_link7" link2="lr_link1" reason="Never"/>
|
| 330 |
-
<disable_collisions link1="fr_link7" link2="lr_link8" reason="Never"/> -->
|
| 331 |
-
<disable_collisions link1="fr_link7" link2="world" reason="Never"/>
|
| 332 |
-
<!-- <disable_collisions link1="fr_link8" link2="lr_base_link" reason="Never"/>
|
| 333 |
-
<disable_collisions link1="fr_link8" link2="lr_link1" reason="Never"/>
|
| 334 |
-
<disable_collisions link1="fr_link8" link2="lr_link2" reason="Never"/>
|
| 335 |
-
<disable_collisions link1="fr_link8" link2="lr_link8" reason="Never"/> -->
|
| 336 |
-
<disable_collisions link1="fr_link8" link2="world" reason="Never"/>
|
| 337 |
-
<!-- <disable_collisions link1="lr_base_link" link2="lr_link1" reason="Adjacent"/> -->
|
| 338 |
-
<!-- <disable_collisions link1="lr_base_link" link2="rr_base_link" reason="Never"/>
|
| 339 |
-
<disable_collisions link1="lr_base_link" link2="rr_link1" reason="Never"/>
|
| 340 |
-
<disable_collisions link1="lr_base_link" link2="rr_link2" reason="Never"/>
|
| 341 |
-
<disable_collisions link1="lr_base_link" link2="rr_link3" reason="Never"/>
|
| 342 |
-
<disable_collisions link1="lr_base_link" link2="rr_link7" reason="Never"/>
|
| 343 |
-
<disable_collisions link1="lr_base_link" link2="rr_link8" reason="Never"/>
|
| 344 |
-
<disable_collisions link1="lr_base_link" link2="world" reason="Adjacent"/> -->
|
| 345 |
-
<!-- <disable_collisions link1="lr_link1" link2="lr_link2" reason="Adjacent"/> -->
|
| 346 |
-
<!-- <disable_collisions link1="lr_link1" link2="rr_base_link" reason="Never"/>
|
| 347 |
-
<disable_collisions link1="lr_link1" link2="rr_link1" reason="Never"/>
|
| 348 |
-
<disable_collisions link1="lr_link1" link2="rr_link2" reason="Never"/>
|
| 349 |
-
<disable_collisions link1="lr_link1" link2="rr_link3" reason="Never"/>
|
| 350 |
-
<disable_collisions link1="lr_link1" link2="rr_link7" reason="Never"/>
|
| 351 |
-
<disable_collisions link1="lr_link1" link2="world" reason="Never"/>
|
| 352 |
-
<disable_collisions link1="lr_link2" link2="lr_link3" reason="Adjacent"/>
|
| 353 |
-
<disable_collisions link1="lr_link2" link2="rr_base_link" reason="Never"/>
|
| 354 |
-
<disable_collisions link1="lr_link2" link2="rr_link1" reason="Never"/>
|
| 355 |
-
<disable_collisions link1="lr_link2" link2="rr_link2" reason="Never"/>
|
| 356 |
-
<disable_collisions link1="lr_link2" link2="world" reason="Never"/>
|
| 357 |
-
<disable_collisions link1="lr_link3" link2="lr_link4" reason="Adjacent"/>
|
| 358 |
-
<disable_collisions link1="lr_link3" link2="rr_base_link" reason="Never"/>
|
| 359 |
-
<disable_collisions link1="lr_link3" link2="rr_link1" reason="Never"/>
|
| 360 |
-
<disable_collisions link1="lr_link3" link2="world" reason="Never"/>
|
| 361 |
-
<disable_collisions link1="lr_link4" link2="lr_link5" reason="Adjacent"/>
|
| 362 |
-
<disable_collisions link1="lr_link4" link2="lr_link7" reason="Never"/>
|
| 363 |
-
<disable_collisions link1="lr_link4" link2="lr_link8" reason="Never"/>
|
| 364 |
-
<disable_collisions link1="lr_link4" link2="world" reason="Never"/>
|
| 365 |
-
<disable_collisions link1="lr_link5" link2="lr_link6" reason="Adjacent"/>
|
| 366 |
-
<disable_collisions link1="lr_link5" link2="lr_link7" reason="Never"/>
|
| 367 |
-
<disable_collisions link1="lr_link5" link2="lr_link8" reason="Never"/>
|
| 368 |
-
<disable_collisions link1="lr_link5" link2="world" reason="Never"/>
|
| 369 |
-
<disable_collisions link1="lr_link6" link2="lr_link7" reason="Adjacent"/>
|
| 370 |
-
<disable_collisions link1="lr_link6" link2="lr_link8" reason="Adjacent"/>
|
| 371 |
-
<disable_collisions link1="lr_link6" link2="rr_link7" reason="Never"/>
|
| 372 |
-
<disable_collisions link1="lr_link6" link2="world" reason="Never"/>
|
| 373 |
-
<disable_collisions link1="lr_link7" link2="lr_link8" reason="Never"/>
|
| 374 |
-
<disable_collisions link1="lr_link7" link2="rr_base_link" reason="Never"/>
|
| 375 |
-
<disable_collisions link1="lr_link7" link2="rr_link1" reason="Never"/>
|
| 376 |
-
<disable_collisions link1="lr_link7" link2="rr_link7" reason="Never"/>
|
| 377 |
-
<disable_collisions link1="lr_link7" link2="world" reason="Never"/>
|
| 378 |
-
<disable_collisions link1="lr_link8" link2="world" reason="Never"/>
|
| 379 |
-
<disable_collisions link1="rr_base_link" link2="rr_link1" reason="Adjacent"/>
|
| 380 |
-
<disable_collisions link1="rr_base_link" link2="world" reason="Adjacent"/>
|
| 381 |
-
<disable_collisions link1="rr_link1" link2="rr_link2" reason="Adjacent"/>
|
| 382 |
-
<disable_collisions link1="rr_link1" link2="world" reason="Never"/>
|
| 383 |
-
<disable_collisions link1="rr_link2" link2="rr_link3" reason="Adjacent"/>
|
| 384 |
-
<disable_collisions link1="rr_link2" link2="world" reason="Never"/>
|
| 385 |
-
<disable_collisions link1="rr_link3" link2="rr_link4" reason="Adjacent"/>
|
| 386 |
-
<disable_collisions link1="rr_link3" link2="world" reason="Never"/>
|
| 387 |
-
<disable_collisions link1="rr_link4" link2="rr_link5" reason="Adjacent"/>
|
| 388 |
-
<disable_collisions link1="rr_link4" link2="rr_link7" reason="Never"/>
|
| 389 |
-
<disable_collisions link1="rr_link4" link2="rr_link8" reason="Never"/>
|
| 390 |
-
<disable_collisions link1="rr_link4" link2="world" reason="Never"/>
|
| 391 |
-
<disable_collisions link1="rr_link5" link2="rr_link6" reason="Adjacent"/>
|
| 392 |
-
<disable_collisions link1="rr_link5" link2="rr_link7" reason="Never"/>
|
| 393 |
-
<disable_collisions link1="rr_link5" link2="rr_link8" reason="Never"/>
|
| 394 |
-
<disable_collisions link1="rr_link5" link2="world" reason="Never"/>
|
| 395 |
-
<disable_collisions link1="rr_link6" link2="rr_link7" reason="Adjacent"/>
|
| 396 |
-
<disable_collisions link1="rr_link6" link2="rr_link8" reason="Adjacent"/>
|
| 397 |
-
<disable_collisions link1="rr_link6" link2="world" reason="Never"/>
|
| 398 |
-
<disable_collisions link1="rr_link7" link2="rr_link8" reason="Never"/>
|
| 399 |
-
<disable_collisions link1="rr_link7" link2="world" reason="Never"/>
|
| 400 |
-
<disable_collisions link1="rr_link8" link2="world" reason="Never"/> -->
|
| 401 |
-
</robot>
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee5669f617d1d4806998da3ab890bc487d0eba06692f4b5498ac3d5c5fccff66
|
| 3 |
+
size 26322
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/back_link7.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.STL and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.STL differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/base_arm.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL.convex.stl
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL.convex.stl and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/box1_Link.STL.convex.stl differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_base_link.dae
CHANGED
|
@@ -1,92 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
<contributor>
|
| 5 |
-
<author>Blender User</author>
|
| 6 |
-
<authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
|
| 7 |
-
</contributor>
|
| 8 |
-
<created>2024-07-25T15:46:03</created>
|
| 9 |
-
<modified>2024-07-25T15:46:03</modified>
|
| 10 |
-
<unit name="meter" meter="1"/>
|
| 11 |
-
<up_axis>Z_UP</up_axis>
|
| 12 |
-
</asset>
|
| 13 |
-
<library_effects>
|
| 14 |
-
<effect id="粗糙不锈钢__1-effect">
|
| 15 |
-
<profile_COMMON>
|
| 16 |
-
<technique sid="common">
|
| 17 |
-
<lambert>
|
| 18 |
-
<emission>
|
| 19 |
-
<color sid="emission">0 0 0 1</color>
|
| 20 |
-
</emission>
|
| 21 |
-
<diffuse>
|
| 22 |
-
<color sid="diffuse">0.7225 0.70574 0.693889 1</color>
|
| 23 |
-
</diffuse>
|
| 24 |
-
<reflectivity>
|
| 25 |
-
<float sid="specular">1</float>
|
| 26 |
-
</reflectivity>
|
| 27 |
-
<index_of_refraction>
|
| 28 |
-
<float sid="ior">1.5</float>
|
| 29 |
-
</index_of_refraction>
|
| 30 |
-
</lambert>
|
| 31 |
-
</technique>
|
| 32 |
-
</profile_COMMON>
|
| 33 |
-
</effect>
|
| 34 |
-
</library_effects>
|
| 35 |
-
<library_images/>
|
| 36 |
-
<library_materials>
|
| 37 |
-
<material id="粗糙不锈钢__1-material" name="粗糙不锈钢 #1">
|
| 38 |
-
<instance_effect url="#粗糙不锈钢__1-effect"/>
|
| 39 |
-
</material>
|
| 40 |
-
</library_materials>
|
| 41 |
-
<library_geometries>
|
| 42 |
-
<geometry id="camera_base_link-mesh" name="camera_base_link">
|
| 43 |
-
<mesh>
|
| 44 |
-
<source id="camera_base_link-mesh-positions">
|
| 45 |
-
<float_array id="camera_base_link-mesh-positions-array" count="1851">-0.007999956 0 0.187 -0.005999982 0 0.187 -0.007999956 0.001249969 0.1873349 -0.005999982 0.001249969 0.1873349 -0.007999956 0.002165019 0.18825 -0.005999982 0.002165019 0.18825 -0.007999956 0.002499997 0.1895 -0.005999982 0.002499997 0.1895 -0.007999956 0.002165019 0.19075 -0.005999982 0.002165019 0.19075 -0.007999956 0.001249969 0.191665 -0.005999982 0.001249969 0.191665 -0.007999956 0 0.192 -0.005999982 0 0.192 -0.007999956 0 0.457 -0.005999982 0 0.457 -0.007999956 0.001249969 0.4573349 -0.005999982 0.001249969 0.4573349 -0.007999956 0.002165019 0.45825 -0.005999982 0.002165019 0.45825 -0.007999956 0.002499997 0.4595 -0.005999982 0.002499997 0.4595 -0.007999956 0.002165019 0.46075 -0.005999982 0.002165019 0.46075 -0.007999956 0.001249969 0.461665 -0.005999982 0.001249969 0.461665 -0.007999956 0 0.462 -0.005999982 0 0.462 -0.007999956 0 0.006999969 -0.005999982 0 0.006999969 -0.007999956 0.001249969 0.007334887 -0.005999982 0.001249969 0.007334887 -0.007999956 0.002165019 0.008249998 -0.005999982 0.002165019 0.008249998 -0.007999956 0.002499997 0.009499967 -0.005999982 0.002499997 0.009499967 -0.007999956 0.002165019 0.01074999 -0.005999982 0.002165019 0.01074999 -0.007999956 0.001249969 0.01166504 -0.005999982 0.001249969 0.01166504 -0.007999956 0 0.01199996 -0.005999982 0 0.01199996 -0.007999956 0 0.637 -0.005999982 0 0.637 -0.007999956 0.001249969 0.637335 -0.005999982 0.001249969 0.637335 -0.007999956 0.002165019 0.63825 -0.005999982 0.002165019 0.63825 -0.007999956 0.002499997 0.6395 -0.005999982 0.002499997 0.6395 -0.007999956 0.002165019 0.64075 -0.005999982 0.002165019 0.64075 -0.007999956 0.001249969 0.6416651 -0.005999982 0.001249969 0.6416651 -0.007999956 0 0.642 -0.005999982 0 0.642 -0.004999995 0.009827315 0.001999974 -0.004999995 0.009827315 0.647 -0.004499971 0.009961307 0.001999974 -0.004499971 0.009961307 0.647 -0.007999956 0.01849997 0.647 -0.007999956 0.01849997 0.001999974 -0.007999956 -0.001249969 0.4573349 -0.007999956 -0.002499997 0.6395 -0.007999956 -0.002165019 0.63825 -0.007999956 -0.001249969 0.637335 -0.007999956 -0.001249969 0.6416651 -0.007999956 -0.01849997 0.647 -0.007999956 -0.002165019 0.45825 -0.007999956 -0.002499997 0.1895 -0.007999956 -0.002165019 0.18825 -0.007999956 -0.001249969 0.01166504 -0.007999956 -0.001249969 0.1873349 -0.007999956 -0.002165019 0.19075 -0.007999956 -0.002165019 0.01074999 -0.007999956 -0.01849997 0.001999974 -0.007999956 -0.002499997 0.009499967 -0.007999956 -0.002165019 0.008249998 -0.007999956 -0.001249969 0.007334887 -0.007999956 -0.001249969 0.191665 -0.007999956 -0.001249969 0.461665 -0.007999956 -0.002165019 0.64075 -0.007999956 -0.002165019 0.46075 -0.007999956 -0.002499997 0.4595 0.002999961 0.004199981 0.001999974 0.002999961 0.006199955 0.001999974 0.005999982 0.006199955 0.001999974 0.006999969 0.004199981 0.001999974 0.006999969 0.005199968 0.001999974 0.007999956 0.005199968 0.001999974 0.005999982 0.01024997 0.001999974 0.007999956 0.01849997 0.001999974 0.002999961 -0.004199981 0.001999974 0.006999969 -0.004199981 0.001999974 0.006999969 -0.005199968 0.001999974 0.002999961 -0.006199955 0.001999974 0.005999982 -0.006199955 0.001999974 0.005999982 -0.01024997 0.001999974 0.007999956 -0.005199968 0.001999974 0.007999956 -0.01849997 0.001999974 0.006499946 0.01999998 0.001999974 0.004999995 0.01799994 0.001999974 -0.006499946 0.01999998 0.001999974 -0.004999995 0.01799994 0.001999974 -0.005499958 0.01786601 0.001999974 -0.007073998 0.01988577 0.001999974 -0.00756061 0.01956063 0.001999974 -0.007885813 0.01907402 0.001999974 -0.005865991 0.01749998 0.001999974 -0.005707085 0.01012021 0.001999974 -0.005382657 0.00990343 0.001999974 -0.005999982 0.006785869 0.001999974 -0.005999982 -0.006785869 0.001999974 0.005382657 0.01232612 0.001999974 0.005707085 0.01254284 0.001999974 0 0.01024997 0.001999974 0.005707085 -0.0177071 0.001999974 0.005923867 -0.01738268 0.001999974 0.007799029 0.01924997 0.001999974 0.007249951 0.01979899 0.001999974 0.005865991 0.01749998 0.001999974 0.005499958 0.01786601 0.001999974 0.005999982 -0.01699995 0.001999974 0.005999982 -0.01324999 0.001999974 0.005865991 -0.01274996 0.001999974 0.005499958 -0.01238393 0.001999974 0 -0.01024997 0.001999974 -7.67949e-4 -0.01211601 0.001999974 -0.004499971 -0.009961307 0.001999974 -0.004999995 -0.009827315 0.001999974 0.004999995 -0.01224994 0.001999974 -2.67949e-4 -0.01224994 0.001999974 -5.26768e-4 -0.01221591 0.001999974 -7.67949e-4 0.01211601 0.001999974 -2.67949e-4 0.01224994 0.001999974 0.004999995 0.01224994 0.001999974 -0.005499958 -0.009961307 0.001999974 -0.005865991 -0.01032733 0.001999974 -0.005999982 -0.0108273 0.001999974 0.006499946 -0.01999998 0.001999974 0.005382657 -0.01792389 0.001999974 0.007249951 -0.01979899 0.001999974 0.007799029 -0.01924997 0.001999974 0.005923867 0.01286727 0.001999974 0.005999982 0.01324999 0.001999974 0.005999982 0.01699995 0.001999974 -0.005999982 0.01699995 0.001999974 -0.005999982 0.0108273 0.001999974 -0.005923867 0.01044464 0.001999974 -0.005999982 -0.01699995 0.001999974 -0.005923867 -0.01738268 0.001999974 -0.007799029 -0.01924997 0.001999974 -0.005707085 -0.0177071 0.001999974 -0.007249951 -0.01979899 0.001999974 -0.005382657 -0.01792389 0.001999974 -0.006499946 -0.01999998 0.001999974 -0.004999995 -0.018 0.001999974 0.004999995 -0.018 0.001999974 -0.007799029 -0.01924997 0.647 -0.007249951 -0.01979899 0.647 -0.006499946 -0.01999998 0.647 0.002999961 -0.004199981 0.647 0.002999961 -0.006199955 0.647 0.005999982 -0.006199955 0.647 0.006999969 -0.004199981 0.647 0.005999982 -0.01024997 0.647 0.007999956 -0.005199968 0.647 0.006999969 -0.005199968 0.647 0.005999982 0.006199955 0.647 0.006999969 0.005199968 0.647 0.005999982 0.01024997 0.647 0.007999956 0.005199968 0.647 0.007999956 0.01849997 0.647 0.002999961 0.006199955 0.647 0.002999961 0.004199981 0.647 0.006999969 0.004199981 0.647 0.005499958 -0.01238393 0.647 0.005865991 -0.01274996 0.647 0.004999995 -0.01224994 0.647 -0.005999982 -0.006785869 0.647 -0.005865991 -0.01032733 0.647 -0.005499958 -0.009961307 0.647 -0.005382657 0.00990343 0.647 -0.005999982 0.006785869 0.647 -0.005707085 0.01012021 0.647 0.005707085 0.01254284 0.647 0.005382657 0.01232612 0.647 -0.005707085 -0.0177071 0.647 -0.005923867 -0.01738268 0.647 -0.005999982 -0.01699995 0.647 -0.005999982 -0.0108273 0.647 -0.005999982 0.0108273 0.647 -0.005923867 0.01044464 0.647 0.006499946 0.01999998 0.647 0.005499958 0.01786601 0.647 0.007249951 0.01979899 0.647 0.005865991 0.01749998 0.647 0.007799029 0.01924997 0.647 -0.005382657 -0.01792389 0.647 0.005999982 -0.01324999 0.647 0.007999956 -0.01849997 0.647 0.005999982 -0.01699995 0.647 0.005923867 -0.01738268 0.647 0.007799029 -0.01924997 0.647 0.005707085 -0.0177071 0.647 0.007249951 -0.01979899 0.647 0.005382657 -0.01792389 0.647 0.006499946 -0.01999998 0.647 0.004999995 -0.018 0.647 -0.004999995 -0.018 0.647 0.004999995 0.01224994 0.647 -2.67949e-4 0.01224994 0.647 0 0.01024997 0.647 -7.67949e-4 0.01211601 0.647 -2.67949e-4 -0.01224994 0.647 0 -0.01024997 0.647 -5.26768e-4 -0.01221591 0.647 -0.005999982 0.01699995 0.647 -0.005865991 0.01749998 0.647 -0.007885813 0.01907402 0.647 -0.005499958 0.01786601 0.647 -0.00756061 0.01956063 0.647 -0.007073998 0.01988577 0.647 -0.006499946 0.01999998 0.647 -0.004999995 0.01799994 0.647 0.004999995 0.01799994 0.647 -0.004999995 -0.009827315 0.647 -0.004499971 -0.009961307 0.647 -7.67949e-4 -0.01211601 0.647 0.005999982 0.01699995 0.647 0.005999982 0.01324999 0.647 0.005923867 0.01286727 0.647 -0.005999982 -0.001249969 0.191665 -0.005999982 -0.002165019 0.19075 -0.005999982 -0.002499997 0.1895 -0.005999982 -0.002165019 0.18825 -0.005999982 -0.001249969 0.1873349 -0.005999982 -0.001249969 0.461665 -0.005999982 -0.002165019 0.46075 -0.005999982 -0.002499997 0.4595 -0.005999982 -0.002165019 0.45825 -0.005999982 -0.001249969 0.4573349 -0.005999982 -0.001249969 0.01166504 -0.005999982 -0.002165019 0.01074999 -0.005999982 -0.002499997 0.009499967 -0.005999982 -0.002165019 0.008249998 -0.005999982 -0.001249969 0.007334887 -0.005999982 -0.001249969 0.6416651 -0.005999982 -0.002165019 0.64075 -0.005999982 -0.002499997 0.6395 -0.005999982 -0.002165019 0.63825 -0.005999982 -0.001249969 0.637335 -0.02469998 0.02499997 0.00999999 -0.02469998 0.02499997 0 -0.02500814 0.02384996 0.00999999 -0.02500814 0.02384996 0 -0.02584999 0.0230081 0.00999999 -0.02584999 0.0230081 0 -0.02699995 0.02269995 0.00999999 -0.02699995 0.02269995 0 -0.02814996 0.0230081 0.00999999 -0.02814996 0.0230081 0 -0.02899181 0.02384996 0.00999999 -0.02899181 0.02384996 0 -0.02929997 0.02499997 0.00999999 -0.02929997 0.02499997 0 -0.02469998 -0.02499997 0.00999999 -0.02469998 -0.02499997 0 -0.02500814 -0.02614998 0.00999999 -0.02500814 -0.02614998 0 -0.02584999 -0.02699184 0.00999999 -0.02584999 -0.02699184 0 -0.02699995 -0.0273 0.00999999 -0.02699995 -0.0273 0 -0.02814996 -0.02699184 0.00999999 -0.02814996 -0.02699184 0 -0.02899181 -0.02614998 0.00999999 -0.02899181 -0.02614998 0 -0.02929997 -0.02499997 0.00999999 -0.02929997 -0.02499997 0 0.01499998 0 0.02279996 0.008499979 0 0.02279996 0.01499998 -0.001349985 0.0231617 0.008499979 -0.001349985 0.0231617 0.01499998 -0.00233823 0.02414995 0.008499979 -0.00233823 0.02414995 0.01499998 -0.002699971 0.02549999 0.008499979 -0.002699971 0.02549999 0.01499998 -0.00233823 0.02684998 0.008499979 -0.00233823 0.02684998 0.01499998 -0.001349985 0.02783823 0.008499979 -0.001349985 0.02783823 0.01499998 0 0.02819997 0.008499979 0 0.02819997 0.01499998 0 0.04279994 0.008499979 0 0.04279994 0.01499998 -0.001349985 0.04316169 0.008499979 -0.001349985 0.04316169 0.01499998 -0.00233823 0.04414999 0.008499979 -0.00233823 0.04414999 0.01499998 -0.002699971 0.04549998 0.008499979 -0.002699971 0.04549998 0.01499998 -0.00233823 0.04684996 0.008499979 -0.00233823 0.04684996 0.01499998 -0.001349985 0.04783827 0.008499979 -0.001349985 0.04783827 0.01499998 0 0.04819995 0.008499979 0 0.04819995 -0.008499979 0 0.02279996 -0.01499998 0 0.02279996 -0.008499979 -0.001349985 0.0231617 -0.01499998 -0.001349985 0.0231617 -0.008499979 -0.00233823 0.02414995 -0.01499998 -0.00233823 0.02414995 -0.008499979 -0.002699971 0.02549999 -0.01499998 -0.002699971 0.02549999 -0.008499979 -0.00233823 0.02684998 -0.01499998 -0.00233823 0.02684998 -0.008499979 -0.001349985 0.02783823 -0.01499998 -0.001349985 0.02783823 -0.008499979 0 0.02819997 -0.01499998 0 0.02819997 -0.008499979 0 0.04279994 -0.01499998 0 0.04279994 -0.008499979 -0.001349985 0.04316169 -0.01499998 -0.001349985 0.04316169 -0.008499979 -0.00233823 0.04414999 -0.01499998 -0.00233823 0.04414999 -0.008499979 -0.002699971 0.04549998 -0.01499998 -0.002699971 0.04549998 -0.008499979 -0.00233823 0.04684996 -0.01499998 -0.00233823 0.04684996 -0.008499979 -0.001349985 0.04783827 -0.01499998 -0.001349985 0.04783827 -0.008499979 0 0.04819995 -0.01499998 0 0.04819995 -0.06499999 -0.03499996 0.00999999 -0.069 -0.01399999 0.00999999 -0.02814996 -0.0230081 0.00999999 -0.01599997 -0.01399999 0.00999999 -0.02699995 -0.02269995 0.00999999 -0.02584999 -0.0230081 0.00999999 -0.01299995 -0.03499996 0.00999999 -0.01366662 -0.02488559 0.00999999 -0.01436346 -0.02446311 0.00999999 -0.01483398 -0.02379781 0.00999999 -0.02500814 -0.02384996 0.00999999 -0.069 -0.03099995 0.00999999 -0.0684641 -0.03299999 0.00999999 -0.06699997 -0.03446406 0.00999999 -0.01299995 -0.02582842 0.00999999 -0.01308298 -0.02542948 0.00999999 -0.01331824 -0.02509683 0.00999999 -0.01549994 -0.01413393 0.00999999 -0.01513397 -0.01449996 0.00999999 -0.01499998 -0.01499998 0.00999999 -0.01499998 -0.023 0.00999999 -0.02899181 -0.02384996 0.00999999 -0.01499998 -0.01499998 0.06999999 -0.01499998 -0.023 0.06999999 -0.01299995 0.02582842 0.00999999 -0.01299995 0.03499996 0.00999999 -0.02500814 0.02614998 0.00999999 -0.01483398 0.02379781 0.00999999 -0.01436346 0.02446311 0.00999999 -0.01599997 0.01399999 0.00999999 -0.01549994 0.01413393 0.00999999 -0.01499998 0.023 0.00999999 -0.01499998 0.01499998 0.00999999 -0.01513397 0.01449996 0.00999999 -0.069 0.01399999 0.00999999 -0.02899181 0.02614998 0.00999999 -0.02814996 0.02699184 0.00999999 -0.06499999 0.03499996 0.00999999 -0.02699995 0.0273 0.00999999 -0.02584999 0.02699184 0.00999999 -0.069 0.03099995 0.00999999 -0.06699997 0.03446406 0.00999999 -0.0684641 0.03299999 0.00999999 -0.01366662 0.02488559 0.00999999 -0.01331824 0.02509683 0.00999999 -0.01308298 0.02542948 0.00999999 0.01499998 0.023 0.00999999 0.01513397 0.02249997 0.00999999 0.01549994 0.02213394 0.00999999 0.02499997 0.03099995 0.00999999 0.014732 0.02399998 0.00999999 0.02499997 0.02199995 0.00999999 0.01599997 0.02199995 0.00999999 0.01113396 0.02549999 0.00999999 0.0115 0.02513396 0.00999999 0.01099997 0.02599996 0.00999999 0.01199996 0.02499997 0.00999999 0.01099997 0.03499996 0.00999999 0.01299995 0.02499997 0.00999999 0.02099996 0.03499996 0.00999999 0.01399999 0.02473205 0.00999999 0.023 0.03446406 0.00999999 0.02446407 0.03299999 0.00999999 0.01499998 0.004999995 0.00999999 0.01513397 0.005499958 0.00999999 0.01499998 0.008999943 0.00999999 0.01549994 0.005865991 0.00999999 0.01599997 0.005999982 0.00999999 0.01513397 0.009499967 0.00999999 0.01549994 0.009865999 0.00999999 0.01599997 0.00999999 0.00999999 0.02099996 0.005999982 0.00999999 0.023 0.006535887 0.00999999 0.02446407 0.007999956 0.00999999 0.02499997 0.00999999 0.00999999 0.01499998 -0.023 0.00999999 0.014732 -0.02399998 0.00999999 0.02499997 -0.03099995 0.00999999 0.01549994 -0.02213394 0.00999999 0.01513397 -0.02249997 0.00999999 0.01599997 -0.02199995 0.00999999 0.02499997 -0.02199995 0.00999999 0.0115 -0.02513396 0.00999999 0.01113396 -0.02549999 0.00999999 0.01199996 -0.02499997 0.00999999 0.01099997 -0.02599996 0.00999999 0.01299995 -0.02499997 0.00999999 0.01099997 -0.03499996 0.00999999 0.01399999 -0.02473205 0.00999999 0.02099996 -0.03499996 0.00999999 0.023 -0.03446406 0.00999999 0.02446407 -0.03299999 0.00999999 0.01499998 -0.008999943 0.00999999 0.01499998 -0.004999995 0.00999999 0.01499998 0.002699971 0.02549999 0.01499998 0.00233823 0.02414995 0.01499998 0.001349985 0.0231617 0.01499998 0.004999995 0 0.01499998 -0.004999995 0 0.01499998 0.002699971 0.04549998 0.01499998 0.00233823 0.04414999 0.01499998 0.001349985 0.04316169 0.01499998 0.00233823 0.02684998 0.01499998 0.008999943 0.06999999 0.01499998 0.00233823 0.04684996 0.01499998 0.001349985 0.04783827 0.01499998 0.001349985 0.02783823 0.01499998 -0.008999943 0.06999999 0.01199996 0.02499997 0.06999999 0.01299995 0.02499997 0.06999999 -0.01499998 0.01499998 0.06999999 -0.01499998 0.023 0.06999999 0.01199996 -0.02499997 0.06999999 0.01299995 -0.02499997 0.06999999 0.008499979 0.002699971 0.04549998 0.008499979 0.00233823 0.04684996 0.008499979 0.0205 0.06999999 0.008499979 0.001349985 0.04783827 0.008499979 -0.0205 0.06999999 0.008499979 0.001349985 0.02783823 0.008499979 -0.0205 0.001999974 0.008499979 0.0205 0.001999974 0.008499979 0.001349985 0.0231617 0.008499979 0.00233823 0.02414995 0.008499979 0.002699971 0.02549999 0.008499979 0.00233823 0.04414999 0.008499979 0.001349985 0.04316169 0.008499979 0.00233823 0.02684998 -0.008499979 0.0205 0.001999974 -0.008499979 0.0205 0.06999999 -0.008499979 0.00233823 0.02684998 -0.008499979 0.002699971 0.02549999 -0.008499979 0.00233823 0.04414999 -0.008499979 0.002699971 0.04549998 -0.008499979 0.001349985 0.02783823 -0.008499979 0.001349985 0.04316169 -0.008499979 -0.0205 0.001999974 -0.008499979 0.001349985 0.0231617 -0.008499979 0.00233823 0.02414995 -0.008499979 -0.0205 0.06999999 -0.008499979 0.001349985 0.04783827 -0.008499979 0.00233823 0.04684996 -0.01366662 -0.02488559 0.06999999 -0.01343989 -0.02499997 0.06999999 0.01499998 -0.023 0.06999999 -0.01343989 0.02499997 0.06999999 -0.01366662 0.02488559 0.06999999 -0.01436346 0.02446311 0.06999999 0.01499998 0.023 0.06999999 -0.01483398 0.02379781 0.06999999 0.01399999 -0.02473205 0.06999999 0.014732 -0.02399998 0.06999999 -0.01483398 -0.02379781 0.06999999 -0.01436346 -0.02446311 0.06999999 0.014732 0.02399998 0.06999999 0.01399999 0.02473205 0.06999999 0.02099996 -0.03499996 0 -0.06499999 -0.03499996 0 -0.069 -0.03099995 0 -0.02899181 -0.02384996 0 -0.069 0.03099995 0 -0.02814996 -0.0230081 0 -0.02500814 0.02614998 0 -0.02584999 0.02699184 0 0.02099996 0.03499996 0 -0.02699995 0.0273 0 -0.06499999 0.03499996 0 -0.02814996 0.02699184 0 -0.0684641 0.03299999 0 -0.06699997 0.03446406 0 -0.06699997 -0.03446406 0 -0.0684641 -0.03299999 0 -0.02500814 -0.02384996 0 -0.02899181 0.02614998 0 -0.02699995 -0.02269995 0 -0.02584999 -0.0230081 0 0.023 0.03446406 0 0.02446407 0.03299999 0 0.02499997 0.03099995 0 0.02499997 0.00999999 0 0.02446407 0.007999956 0 0.023 0.006535887 0 0.02099996 0.005999982 0 0.01599997 0.005999982 0 0.01513397 -0.005499958 0 0.01549994 0.005865991 0 0.01513397 0.005499958 0 0.01549994 -0.005865991 0 0.01599997 -0.005999982 0 0.02099996 -0.005999982 0 0.02446407 -0.03299999 0 0.023 -0.03446406 0 0.02499997 -0.03099995 0 0.02499997 -0.00999999 0 0.02446407 -0.007999956 0 0.023 -0.006535887 0 -0.01499998 0.001349985 0.04783827 -0.01499998 0.00233823 0.04684996 -0.01499998 0.002699971 0.04549998 -0.01499998 0.00233823 0.04414999 -0.01499998 0.001349985 0.04316169 -0.01499998 0.001349985 0.02783823 -0.01499998 0.00233823 0.02684998 -0.01499998 0.002699971 0.02549999 -0.01499998 0.00233823 0.02414995 -0.01499998 0.001349985 0.0231617 0.02499997 -0.00999999 0.00999999 0.01599997 -0.005999982 0.00999999 0.02099996 -0.005999982 0.00999999 0.01513397 -0.009499967 0.00999999 0.01549994 -0.009865999 0.00999999 0.02446407 -0.007999956 0.00999999 0.023 -0.006535887 0.00999999 0.01549994 -0.005865991 0.00999999 0.01513397 -0.005499958 0.00999999 0.01599997 -0.00999999 0.00999999 0.01506674 -0.0093593 0.06959933 0.01501286 -0.009160041 0.06992262 0.01500159 -0.009056568 0.06999033 0.01599997 -0.00999999 0.06400001 0.01500344 -0.02291649 0.06997907 0.01502203 -0.02279114 0.06986773 0.01514542 -0.02250534 0.0691275 0.0151773 -0.02243149 0.0689361 0.01554113 -0.02220082 0.06675302 0.0155285 -0.009804666 0.0668289 0.01529288 -0.009707093 0.0682426 0.0151512 -0.009489178 0.06909269 0.01599997 -0.02199995 0.06400001 0.01583689 -0.02201336 0.06497865 0.01194334 -0.02500158 0.06999033 0.01183992 -0.02501285 0.06992262 0.01129287 -0.02529287 0.0682426 0.01151078 -0.02515119 0.06909269 0.01164066 -0.02506673 0.06959933 -0.01299995 -0.02582842 0.06502944 0.01099997 -0.02599996 0.06400001 -0.01309818 -0.02543413 0.06739485 0.0111953 -0.02552849 0.0668289 -0.01311677 -0.02535939 0.06784337 -0.01333689 -0.02511453 0.06931245 0.01506674 0.0226407 0.06959933 0.01501286 0.0228399 0.06992262 0.01500159 0.02294337 0.06999033 0.01599997 0.02199995 0.06400001 0.01500344 0.009083449 0.06997907 0.01502203 0.009208798 0.06986773 0.01514542 0.009494602 0.0691275 0.0151773 0.009568452 0.0689361 0.01554113 0.009799122 0.06675302 0.0155285 0.02219527 0.0668289 0.01529288 0.02229285 0.0682426 0.0151512 0.02251076 0.06909269 0.01599997 0.00999999 0.06400001 0.01583689 0.009986579 0.06497865 -0.01333689 0.02511453 0.06931245 -0.01311677 0.02535939 0.06784337 0.01191651 0.02500349 0.06997907 -0.01309818 0.02543413 0.06739485 0.01143145 0.02517729 0.0689361 0.01120084 0.02554112 0.06675302 -0.01299995 0.02582842 0.06502944 0.01179116 0.02502202 0.06986773 0.01150536 0.02514541 0.0691275 0.01101338 0.02583688 0.06497865 0.01099997 0.02599996 0.06400001 0.01174116 -0.02503407 0.06954628 0.01503401 -0.009258806 0.06954628 0.01503401 0.02274113 0.06954628 -0.01599997 0.01399999 0.06888884 -0.01599997 -0.01399999 0.06888884 -0.01500415 -0.01490885 0.06999534 -0.0154246 -0.01418209 0.06952816 -0.01514786 -0.01451122 0.06983566 -0.01509541 -0.01457363 0.06989389 -0.01550781 -0.01415574 0.06943571 -0.01505589 0.01467031 0.06993788 -0.01514899 0.01450866 0.06983441 -0.0152412 0.01434862 0.06973195 -0.01547032 0.01415175 0.06947731 -0.01550281 0.01414245 0.06944125</float_array>
|
| 46 |
-
<technique_common>
|
| 47 |
-
<accessor source="#camera_base_link-mesh-positions-array" count="617" stride="3">
|
| 48 |
-
<param name="X" type="float"/>
|
| 49 |
-
<param name="Y" type="float"/>
|
| 50 |
-
<param name="Z" type="float"/>
|
| 51 |
-
</accessor>
|
| 52 |
-
</technique_common>
|
| 53 |
-
</source>
|
| 54 |
-
<source id="camera_base_link-mesh-normals">
|
| 55 |
-
<float_array id="camera_base_link-mesh-normals-array" count="1851">-0.7702632 3.31944e-7 0.6377261 0.7702633 -5.99243e-7 0.6377261 -0.770255 -0.3188672 0.5522963 0.7702548 -0.318868 0.5522959 -0.7702677 -0.5522815 0.318862 0.7702682 -0.5522816 0.3188604 -0.7702533 -0.6377381 7.32796e-7 0.7702524 -0.6377393 -7.45324e-7 -0.770269 -0.5522801 -0.3188612 0.7702682 -0.5522808 -0.3188623 -0.7702563 -0.3188712 -0.5522922 0.7702538 -0.3188709 -0.5522955 -0.7702664 -6.82675e-7 -0.6377224 0.7702668 7.26516e-7 -0.637722 -0.7702664 7.64095e-7 0.6377223 0.7702667 -7.23085e-7 0.637722 -0.7702562 -0.3188714 0.5522921 0.7702544 -0.3188744 0.5522928 -0.7702668 -0.5522835 0.3188608 0.7702718 -0.5522799 0.3188547 -0.7702482 -0.6377444 7.32804e-7 0.7702564 -0.6377345 -7.45318e-7 -0.7702686 -0.55228 -0.3188623 0.7702682 -0.55228 -0.3188635 -0.7702518 -0.3188711 -0.5522983 0.7702519 -0.3188697 -0.5522989 -0.7702667 -5.76202e-7 -0.637722 0.7702668 6.85158e-7 -0.637722 -0.7702572 7.20261e-7 0.6377334 0.7702649 -7.51566e-7 0.6377241 -0.7702597 -0.3188632 0.5522919 0.770266 -0.3188606 0.5522846 -0.770259 -0.5522918 0.3188651 0.7702589 -0.5522928 0.3188636 -0.7702597 -0.6377304 7.32787e-7 0.7702613 -0.6377285 -7.45311e-7 -0.7702709 -0.5522777 -0.3188611 0.7702683 -0.5522797 -0.3188634 -0.7702526 -0.3188704 -0.5522977 0.7702538 -0.3188681 -0.5522972 -0.7702661 -3.56995e-7 -0.6377227 0.770267 6.86396e-7 -0.6377217 -0.770261 5.51152e-7 0.6377288 0.7702611 -9.33291e-7 0.6377288 -0.770255 -0.3188623 0.552299 0.7702549 -0.3188626 0.5522991 -0.7702718 -0.5522769 0.3188599 0.7702696 -0.5522798 0.3188602 -0.7702595 -0.6377306 -3.0251e-6 0.7702579 -0.6377326 -4.54705e-6 -0.7702562 -0.5522973 -0.3188626 0.770256 -0.5522966 -0.3188639 -0.7702618 -0.3188677 -0.5522863 0.7702681 -0.3188626 -0.5522806 -0.7702572 -7.07735e-7 -0.6377335 0.770265 7.13812e-7 -0.6377241 -0.02118879 0.6472644 -0.7619711 -0.02113848 0.647271 0.7619668 -0.2583615 0.6237395 -0.7376981 -0.2583686 0.623735 0.7376995 -0.7243695 0.07134765 0.6857103 -0.7243605 0.07134538 -0.6857199 -0.7702535 0.3188744 0.5522942 -0.7702571 0.6377336 -4.45311e-6 -0.7702701 0.5522801 0.3188583 -0.7702546 0.3188632 0.5522989 -0.7702618 0.3188664 -0.5522871 -0.7279563 -0.09584546 0.6788913 -0.7702745 0.5522776 0.3188524 -0.7702528 0.6377387 -6.639e-7 -0.7702684 0.5522824 0.3188588 -0.7702527 0.3188697 -0.5522981 -0.7702543 0.3188685 0.5522963 -0.7702679 0.5522823 -0.3188601 -0.7702719 0.5522767 -0.3188601 -0.7279624 -0.09584212 -0.6788852 -0.7702584 0.6377321 -6.63894e-7 -0.7702597 0.5522927 0.3188619 -0.7702597 0.3188645 0.552291 -0.7702552 0.3188697 -0.5522944 -0.7702516 0.3188699 -0.5522992 -0.7702569 0.5522966 -0.3188618 -0.7702682 0.5522804 -0.3188625 -0.7702542 0.637737 -6.63899e-7 -0.5773602 -0.5773602 -0.5773304 -0.5773527 0.5773491 -0.5773491 -0.301511 0.3015108 -0.9045344 0.5773491 -0.5773509 -0.5773509 0.3015153 -0.3015143 -0.9045317 0.5773547 -0.5773492 -0.5773469 -0.3015223 -0.3015224 -0.9045267 0.7279847 0.09584045 -0.6788616 -0.5773626 0.577359 -0.5773292 0.5773503 0.5773504 -0.5773503 0.3015113 0.3015123 -0.9045338 -0.5773504 -0.5773499 -0.5773505 -0.3015128 -0.301513 -0.904533 -0.301524 0.3015259 -0.9045251 0.5773607 0.5773589 -0.5773314 0.7279944 -0.09584033 -0.6788511 0.09584057 0.7279797 -0.6788669 -0.08812123 -0.6693659 -0.7376883 -0.0713467 0.7243959 -0.6856824 0.08811956 -0.6693614 -0.7376925 0.3188667 -0.5523055 -0.7702485 -0.2855573 0.6893911 -0.6657303 -0.5276445 0.5276409 -0.6657226 -0.6894012 0.285555 -0.6657209 0.5523003 -0.3188733 -0.7702496 0.4646702 0.4646724 -0.7537646 0.2514739 0.6071173 -0.7537702 0.4717236 -0.2723595 -0.8386283 0.4717267 0.2723639 -0.838625 -0.2514804 0.6071187 -0.7537668 -0.4646752 0.464675 -0.7537601 0.1650595 -0.6160126 -0.7702493 -0.4646869 0.4646745 -0.7537532 -0.6071215 0.2514768 -0.7537659 0.6557207 0.378583 -0.653227 0.3785854 0.6557316 -0.6532145 -0.552299 -0.3188683 -0.7702525 -0.3188636 -0.5522895 -0.7702613 -0.6803231 0.06700706 -0.7298429 -0.6693574 -0.0881226 -0.7376958 -0.552284 -0.3188621 -0.7702659 -0.318866 -0.5522912 -0.770259 0.1650598 0.6160116 -0.7702501 -0.3190015 -0.64688 -0.6926647 -0.2583612 -0.6237362 -0.737701 -2.39249e-6 -0.6377279 -0.7702619 -0.08812439 -0.6693542 -0.7376986 -0.04718124 -0.719723 -0.6926563 -0.1900436 -0.7092322 -0.6788763 -0.2809814 0.6783624 -0.678877 -0.09583598 0.727979 -0.6788684 -0.06700694 0.6803151 -0.7298504 0.3188639 -0.5522922 -0.7702592 0.5522851 -0.3188633 -0.7702645 0.6693632 -0.08812272 -0.7376905 0.0958445 -0.7279753 -0.678871 -0.2514772 0.607114 -0.7537717 0.3785847 -0.6557211 -0.6532255 0.6557236 -0.3785824 -0.6532243 -0.6071107 0.251475 -0.7537751 -0.6803218 0.06700569 -0.7298442 -0.6693591 -0.08812403 -0.7376942 0.6693648 -0.08812421 -0.7376889 0.6803215 0.06700599 -0.7298445 0.6071137 0.2514725 -0.7537735 0.6803227 0.06700736 -0.7298433 0.6071208 0.2514767 -0.7537664 -0.6557231 -0.3785847 -0.6532235 0.4646852 0.4646725 -0.7537553 -0.3785838 -0.6557217 -0.6532253 0.2514768 0.6071139 -0.753772 -0.09584355 -0.7279751 -0.6788714 0.06700104 0.6803243 -0.7298423 -0.06700158 0.6803253 -0.7298412 -0.6557129 -0.3785868 0.6532325 -0.3785866 -0.6557207 0.6532248 -0.09584563 -0.7279754 0.6788708 -0.5773476 0.5773478 0.5773556 -0.5773527 -0.5773491 0.5773491 -0.3015213 -0.3015097 0.9045313 0.5773552 0.577357 0.5773388 -0.3015235 0.3015216 0.9045266 0.5773496 0.5773518 0.5773496 0.3015161 0.3015152 0.9045313 -0.3015158 0.301516 0.904531 0.3015133 -0.3015115 0.9045333 -0.3015143 -0.3015276 0.9045277 0.5773606 -0.5773588 0.5773314 0.7279973 0.09583801 0.6788483 -0.5773484 0.5773621 0.5773403 -0.5773507 -0.5773613 0.5773389 0.5773503 -0.5773503 0.5773503 -0.3188616 -0.5522938 0.770259 -0.5522816 -0.3188661 0.7702659 -0.08812248 -0.669348 0.7377043 0.471688 0.2723649 0.8386464 0.5520896 -0.3189088 0.7703859 0.3188831 -0.5522869 0.770255 0.2514443 0.6071221 0.7537763 0.4720684 -0.2723079 0.838451 0.4646567 0.4646761 0.7537707 -0.4647342 0.464659 0.7537335 -0.2513877 0.6071341 0.7537854 0.464675 0.464678 0.7537584 0.6071048 0.2514809 0.7537779 0.6803133 0.06700789 0.7298519 0.6693447 -0.08812272 0.7377073 0.6803387 0.06700438 0.7298285 0.6071199 0.2514718 0.7537689 0.09584385 0.7279787 0.6788675 -0.3188564 -0.5523053 0.7702528 0.3785524 0.65574 0.6532253 -0.5523087 -0.3188741 0.7702431 0.6557061 0.3785873 0.6532391 0.2514492 0.6071183 0.7537777 -0.6693624 -0.08812403 0.7376911 0.7279856 -0.09583967 0.6788607 -0.6803058 0.06700879 0.7298588 -0.607104 0.2514811 0.7537786 0.6557238 -0.3785843 0.653223 -0.4646688 0.4646774 0.7537625 0.3785857 -0.6557211 0.653225 -0.2514485 0.607119 0.7537774 0.09584468 -0.7279749 0.6788713 -0.06699317 0.6803246 0.7298428 0.06699335 0.6803258 0.7298416 -0.06692832 0.6803193 0.7298537 -0.09589481 0.7279782 0.6788607 0.1650624 -0.6160092 0.7702513 -0.2810344 0.6783621 0.6788554 -0.04717898 -0.7197151 0.6926647 0.1650556 0.6160151 0.7702481 -0.190111 -0.7092235 0.6788667 0.6693646 -0.08812224 0.7376893 0.5523079 -0.3188682 0.7702462 -0.6893978 0.285562 0.6657215 0.3188707 -0.5523098 0.7702437 -0.5276368 0.5276427 0.6657273 -0.2855142 0.6894148 0.6657243 -0.07127219 0.7243825 0.6857042 0.08810859 -0.6693667 0.737689 -0.0881071 -0.6693621 0.7376934 -7.59082e-6 -0.6377279 0.7702618 -0.2583931 -0.6237341 0.7376916 -0.3190696 -0.6468586 0.6926533 -0.6693817 -0.08812361 0.7376736 -0.6802929 0.06700837 0.7298709 -0.6070229 0.2514967 0.7538386 0.7702534 0.3188725 -0.5522953 0.7702739 0.552277 -0.3188546 0.7702531 0.6377384 6.76426e-7 0.7702684 0.5522816 0.3188599 0.770255 0.3188667 0.5522964 0.7702518 0.3188711 -0.5522983 0.7702699 0.5522791 -0.3188606 0.770243 0.6377506 6.76438e-7 0.7702679 0.5522831 0.3188586 0.770255 0.3188721 0.5522933 0.7702528 0.3188698 -0.5522978 0.7702695 0.5522798 -0.3188604 0.7702599 0.6377301 6.76418e-7 0.7702597 0.5522921 0.3188629 0.7702661 0.3188593 0.5522853 0.7702681 0.3188638 -0.5522799 0.7702569 0.5522974 -0.3188607 0.770268 0.6377204 -3.15031e-6 0.7702633 0.5522867 0.3188637 0.7702562 0.3188608 0.5522981 -0.6377372 7.33578e-7 0.770254 -0.6377307 -1.02716e-6 -0.7702594 -0.5522843 0.318862 0.7702656 -0.5522873 0.3188631 -0.770263 -0.3188623 0.5522856 0.7702646 -0.3188712 0.5523018 -0.7702493 -5.52296e-7 0.6377322 0.7702583 4.94785e-7 0.6377259 -0.7702635 0.3188633 0.5522891 0.7702617 0.3188693 0.5522964 -0.770254 0.5522938 0.3188686 0.7702561 0.5522901 0.3188636 -0.7702608 0.6377285 1.75994e-6 0.7702614 0.637726 -2.04803e-6 -0.7702633 -0.6377355 1.02521e-6 0.7702556 -0.6377297 -7.32787e-7 -0.7702603 -0.5522935 0.3188669 0.7702571 -0.5522862 0.3188622 -0.7702642 -0.3188675 0.5522934 0.7702568 -0.3188625 0.5522861 -0.7702641 -5.42578e-7 0.6377304 0.7702597 4.94787e-7 0.6377294 -0.7702605 0.3188635 0.5522886 0.770262 0.3188647 0.5522879 -0.770262 0.5522864 0.318864 0.7702633 0.5522893 0.3188629 -0.7702617 0.6377321 2.04805e-6 0.7702583 0.6377285 -1.75994e-6 -0.7702614 0.7702607 2.31035e-6 0.6377292 -0.7702643 -2.50528e-6 0.6377249 0.7702704 0.318861 0.5522785 -0.7702654 0.3188596 0.552286 0.7702589 0.5522927 0.3188636 -0.7702687 0.55228 0.3188619 0.7702692 0.637719 -2.30484e-6 -0.7702713 0.6377165 2.5303e-6 0.770271 0.5522781 -0.31886 -0.7702603 0.5522915 -0.3188626 0.7702592 0.3188634 -0.5522925 -0.7702676 0.3188629 -0.552281 0.7702648 -2.54286e-6 -0.6377243 -0.7702651 2.48648e-6 -0.6377239 0.7702621 2.4176e-6 0.6377276 -0.7702659 -2.41759e-6 0.637723 0.770265 0.3188636 0.5522844 -0.7702575 0.3188642 0.5522944 0.7702682 0.5522829 0.3188581 -0.7702735 0.5522739 0.3188612 0.7702661 0.6377227 -2.41132e-6 -0.7702638 0.6377254 2.41133e-6 0.7702639 0.5522851 -0.318865 -0.770268 0.5522831 -0.3188583 0.7702758 0.3188534 -0.552275 -0.7702654 0.3188641 -0.5522835 0.7702676 -2.31737e-6 -0.6377209 -0.7702656 2.41132e-6 -0.6377232 0.7702642 2.41055e-6 0.6377249 0.6532348 -2.86291e-6 0.7571554 0.7702657 0.3188635 0.5522834 0.6532194 0.3785819 0.6557289 0.7702687 0.5522825 0.3188577 0.6532331 0.6557152 0.378582 0.770272 0.6377155 -2.29856e-6 0.6532066 0.7571799 2.99686e-6 0.7702594 0.5522901 -0.3188673 0.6532348 0.6557173 -0.3785751 0.7702599 0.3188633 -0.5522916 0.6532192 0.3785871 -0.655726 0.7702648 -2.40506e-6 -0.6377243 0.653232 2.86292e-6 -0.7571579 0.7702645 2.54912e-6 0.6377248 0.6532322 -2.87779e-6 0.7571576 0.7702606 0.3188662 0.552289 0.6531907 0.3785936 0.6557506 0.770266 0.5522852 0.3188595 0.6532323 0.6557158 0.378582 0.770272 0.6377156 -2.4113e-6 0.6532321 0.7571578 2.86292e-6 0.770268 0.5522807 -0.3188626 0.6532347 0.6557172 -0.3785755 0.7702662 0.3188593 -0.552285 0.6532195 0.378587 -0.6557258 0.7702634 -2.42386e-6 -0.6377259 0.6532317 2.85549e-6 -0.7571582 -0.09583985 -0.7279784 0.6788684 -0.8427695 -0.1639026 0.5127139 0.3188689 -0.5522959 0.7702544 -0.0958389 -0.727973 0.6788742 5.94993e-7 -0.6377241 0.7702649 -0.3188642 -0.5522894 0.7702612 -0.2689018 -0.8973691 0.3498866 -0.3665754 -0.6046689 0.7071054 -0.4462872 -0.4789058 0.7559611 -0.6002766 -0.2611265 0.7559636 -0.5522943 -0.3188671 0.7702563 -0.7279737 -0.09583908 0.6788735 -0.6557193 -0.3785778 0.6532313 -0.3785873 -0.6557264 0.6532187 -0.7249246 -0.07462435 0.6847741 -0.6856877 -0.2983498 0.6639427 -0.509847 -0.5470206 0.6639463 -0.3784869 -0.6557152 0.6532881 -0.6556519 -0.3785348 0.6533239 -0.7279288 -0.09576117 0.6789326 -0.6789084 -0.06988716 0.7308894 0.552287 -0.3188619 0.7702636 -0.7017365 -0.01549148 0.7122682 -0.7249383 -0.07462668 0.6847593 -0.7249246 0.07462435 0.6847741 -0.2688821 0.8973799 0.3498739 -0.5522946 -0.318867 0.7702562 -0.6002696 0.2611246 0.7559699 -0.4462871 0.4789057 0.7559611 -0.09587723 0.7279914 0.6788492 -0.3786069 0.6557748 0.6531587 -0.6789085 0.06988829 0.7308892 -0.7279027 0.09570646 0.6789684 -0.6555877 0.3786712 0.6533093 -0.8427718 0.1638976 0.5127118 0.5522893 -0.3188629 0.7702617 0.3188648 -0.5522879 0.770262 -0.0958395 0.7279849 0.6788614 4.82262e-7 -0.6377303 0.7702598 -0.318867 -0.5522938 0.7702568 -0.7279703 0.0958364 0.6788775 -0.3785763 0.6557204 0.6532311 -0.6557269 0.3785855 0.6532194 -0.3666942 0.6046832 0.7070316 -0.5098206 0.5471391 0.6638689 -0.6856883 0.2983501 0.6639419 0.6829507 0.1828629 0.7072054 0.6555961 0.3789794 0.653122 0.3789135 0.6557604 0.6529955 0.7279629 0.09583717 0.6788854 0.5522928 0.3188652 0.7702583 0.8973736 0.268899 0.3498775 0.09583967 0.7279778 0.678869 0.6557586 0.3789754 0.6529612 0.3789784 0.6557633 0.6529548 0.7279884 0.09584128 0.6788575 0.09583902 0.7279748 0.6788723 0.2688987 0.8973729 0.349879 0.0881226 0.6693547 0.7376983 0.09583866 0.7279669 0.6788809 0.3188672 0.5522919 0.770258 0.3785819 0.6557182 0.6532301 0.6557188 0.3785769 0.6532324 0.9970013 -0.06506538 0.04189199 0.5522796 -0.3188603 0.7702698 0.727989 -0.09584099 0.6788569 0.3188659 -0.5522878 0.7702615 0.08812314 -0.669353 0.7376998 0.6557539 -0.3789728 0.6529675 0.3789771 -0.6557639 0.6529549 0.09584093 -0.7279874 0.6788585 0.09583729 -0.7279664 0.6788817 0.3785718 -0.6557105 0.6532437 0.655721 -0.3785839 0.6532261 0.8884373 -0.3471801 0.3002418 0.6830102 -0.1830109 0.7071098 0.5522956 -0.3188685 0.7702548 0.7279822 -0.09584099 0.6788642 0.3789749 -0.6557589 0.6529611 0.6557625 -0.3789784 0.6529557 0.09584093 -0.7279884 0.6788575 0.8973694 -0.2688977 0.3498888 0.3789777 -0.6555982 0.6531209 0.6557586 -0.3789152 0.6529962 0.09569644 -0.727911 0.6789609 0.7279734 -0.09583938 0.6788738 0.08812105 -0.6693497 0.7377031 0.2689031 -0.897374 0.349873 0.3188636 -0.5522893 0.7702614 0.09583735 -0.727968 0.6788798 0.3785851 -0.6557338 0.6532126 0.6557171 -0.3785815 0.6532313 0.7278935 0.09569889 0.6789792 0.9970014 0.06506538 0.04189038 0.7702639 -0.6377255 2.52409e-6 0.7702684 -0.5522805 0.318862 0.7702671 -0.3188588 0.552284 0.6693519 -0.08812332 -0.7377007 0.6693565 0.08812183 -0.7376968 0.7702621 -0.6377276 2.41134e-6 0.7702727 -0.5522758 0.3188595 0.7702563 -0.3188651 0.5522956 0.7702735 -0.5522775 -0.3188547 0.6859434 -0.03300034 0.7269062 0.7702639 -0.5522875 -0.3188608 0.7702654 -0.3188641 -0.5522835 0.7702606 -0.3188669 -0.5522886 0.6970606 0.01852244 0.716773 0.03298866 0.685974 0.7268778 0.09583848 0.7279672 0.6788806 -0.6856121 0.05091732 0.7261843 -0.7249354 0.07462525 0.6847625 0.01851063 -0.6970609 0.716773 0.09583908 -0.727967 0.6788806 -0.770272 -0.6377156 -2.4113e-6 -0.770268 -0.5522806 -0.3188626 -0.3015299 -0.3015113 0.904528 -0.7702654 -0.3188598 -0.5522859 -0.3015048 0.3015183 0.9045339 -0.7702577 -0.3188638 -0.5522942 -0.5773695 0.5773294 0.577352 -0.5773425 -0.5773683 0.5773403 -0.7702658 -0.3188636 0.5522834 -0.7702687 -0.5522825 0.3188577 -0.7702632 -0.6377262 -2.2986e-6 -0.7702599 -0.5522916 0.3188632 -0.7702679 -0.3188618 0.5522814 -0.7702704 -0.5522788 -0.3188598 0.5773422 -0.5773431 0.5773656 0.3015239 -0.3015172 0.9045279 0.7702741 -0.552277 -0.3188545 0.7702614 -0.6377283 2.53034e-6 0.7702721 -0.5522765 0.3188599 0.7702629 -0.6377266 2.41134e-6 0.77026 -0.3188666 -0.5522896 0.7702568 -0.3188645 0.5522953 0.577371 0.577354 0.5773259 0.7702657 -0.3188593 0.5522857 0.7702687 -0.55228 0.3188619 0.3015076 0.3015103 0.9045357 0.7702654 -0.3188639 -0.5522835 0.770268 -0.5522831 -0.3188584 -0.3567016 -0.6094371 0.708061 -0.1835462 -0.6872941 0.702807 0.7038182 -0.1274776 0.6988487 -0.183537 0.6872934 0.7028101 -0.3566953 0.6094136 0.7080844 -0.5097779 0.5470357 0.6639869 0.716269 0.1137566 0.6884898 -0.685675 0.2982678 0.6639927 0.3785833 -0.6557241 0.6532233 0.6557284 -0.3785839 0.6532186 -0.685667 -0.298274 0.6639981 -0.5097767 -0.547035 0.6639883 0.6557275 0.3785856 0.6532186 0.3785818 0.655725 0.6532232 0.09584087 -0.7279824 -0.678864 -0.09584003 -0.7279813 -0.6788652 -0.727969 -0.09583657 -0.6788789 0.5522936 -0.3188685 -0.7702563 -0.727958 0.09584021 -0.6788902 0.3188654 -0.5522926 -0.7702583 -0.5522904 -0.3188651 -0.7702599 -0.318863 -0.5522857 -0.7702643 0.09583979 0.7279846 -0.6788618 -5.32366e-7 -0.6377295 -0.7702604 -0.09584039 0.7279748 -0.6788722 0.3188635 -0.5522886 -0.770262 -0.6557193 0.3785778 -0.6532313 -0.3785873 0.6557264 -0.6532187 -0.3785763 -0.6557204 -0.6532311 -0.6557269 -0.3785855 -0.6532194 -0.5522858 -0.3188627 -0.7702644 0.5522863 -0.318864 -0.7702633 -5.32363e-7 -0.637726 -0.7702634 -0.3188689 -0.5522965 -0.7702541 0.378577 0.6557196 -0.6532315 0.6557266 0.3785871 -0.6532186 0.7279871 0.09583902 -0.6788592 0.7279864 -0.09583806 -0.67886 0.6557195 -0.3785774 -0.6532313 0.3785868 -0.6557266 -0.6532188 0.09584099 -0.7279723 -0.6788747 0.08812028 -0.6693418 -0.7377102 0.5522912 0.3188626 -0.7702606 0.3188688 -0.5522992 -0.7702522 0.5522891 -0.3188667 -0.7702603 0.3188695 0.5522956 -0.7702544 0.08812218 0.6693437 -0.7377083 0.0958383 0.7279739 -0.6788734 0.6557195 -0.3785773 -0.6532314 0.3785868 -0.6557267 -0.6532187 0.7279832 -0.09584015 -0.6788631 0.7279787 0.09584057 -0.678868 0.6557266 0.3785871 -0.6532186 0.378577 0.6557196 -0.6532315 0.6532099 -0.3785859 -0.6557359 0.6532297 -0.6557181 -0.3785828 0.6532418 -0.7571493 -2.86289e-6 0.6532349 -0.655717 0.3785756 0.6532192 -0.3785863 0.6557264 0.653216 -0.3785835 -0.6557313 0.6532295 -0.6557185 -0.3785823 0.6532198 -0.7571684 -2.73655e-6 0.653232 -0.6557194 0.3785765 0.6532319 -0.3785815 0.6557165 0.8884326 0.3471871 0.300248 0.08812236 0.6693602 0.7376934 0.09584009 0.7279661 0.6788815 0.6555973 0.3789792 0.6531209 0.3789077 0.655751 0.6530082 0.6557224 0.3785791 0.6532273 0.3785814 0.6557171 0.6532314 0.3188692 0.5522982 0.7702528 0.5522789 0.318864 0.7702686 0.09584027 0.7279823 0.6788641 0.9856108 0.1387169 0.09658694 0.9863933 1.932e-5 0.164403 0.9923624 0.01667255 0.1222255 0.8227396 0.5594208 0.1007376 0.9863682 -9.93874e-6 0.1645535 0.986395 1.88429e-6 0.1643928 0.9849628 -0.1453412 0.09340333 0.9863936 -1.47039e-5 0.1644015 0.8916193 -0.4432638 0.09237092 0.8281817 0.5514963 0.09983563 0.9538581 0.286188 0.09083569 0.9681488 0.2347086 0.08717739 0.7298035 -0.6742816 0.1128325 0.868474 -0.4863033 0.09623962 0.01664954 -0.9923585 0.1222599 0 -0.9863989 0.1643688 0.2861928 -0.9538568 0.09083467 0.2347098 -0.9681483 0.08717978 0.1387012 -0.9856124 0.09659272 -0.6172333 -0.7796452 0.1057192 0.5594102 -0.8227465 0.1007397 -0.6114302 -0.7842689 0.1052406 0.5514957 -0.828182 0.09983575 -0.409287 -0.9076371 0.09316211 -0.3009533 -0.9493329 0.09052157 0.9856112 0.1387147 0.09658604 0.9863952 1.93166e-5 0.1643918 0.9923617 0.01667284 0.1222303 0.82274 0.5594201 0.1007376 0.9863686 -9.93873e-6 0.1645511 0.9863938 1.88429e-6 0.1643997 0.9849628 -0.1453412 0.09340286 0.9863945 -1.47037e-5 0.1643954 0.8916197 -0.443263 0.09237086 0.8281816 0.5514963 0.09983563 0.9538578 0.286189 0.09083563 0.9681491 0.2347071 0.08717733 0.7298036 -0.6742817 0.1128324 0.8684735 -0.4863042 0.09623968 -0.3005949 0.9494301 0.09069347 -0.4092892 0.9076361 0.09316253 -1.26011e-5 0.9863885 0.1644321 -0.6114272 0.7842711 0.1052417 -5.28985e-5 0.9863937 0.1644007 0.4432631 0.8916195 0.09237176 -0.6172212 0.7796545 0.1057212 3.36657e-6 0.9863965 0.1643836 0.1453359 0.9849647 0.09339219 0.4863061 0.8684726 0.09623813 0.674274 0.7298106 0.1128325 0.2452127 -0.9694632 0.003458976 0.9694592 0.2452286 0.003452003 0.9694598 0.2452259 0.003451585 -0.640187 0.6188499 0.4551763 -0.6501446 -0.6093096 0.4539316 -0.9177738 -0.06962895 0.3909515 -0.8184944 -0.3806345 0.4303305 -0.8517258 -0.3634135 0.3774839 -0.8900727 -0.1867913 0.4157879 -0.6677796 -0.6094883 0.4273108 -0.9022314 0.1395472 0.4080504 -0.8877866 0.2753812 0.368782 -0.8644003 0.296302 0.4062232 -0.7844289 0.4490903 0.4277727 -0.6576879 0.617115 0.4319903</float_array>
|
| 56 |
-
<technique_common>
|
| 57 |
-
<accessor source="#camera_base_link-mesh-normals-array" count="617" stride="3">
|
| 58 |
-
<param name="X" type="float"/>
|
| 59 |
-
<param name="Y" type="float"/>
|
| 60 |
-
<param name="Z" type="float"/>
|
| 61 |
-
</accessor>
|
| 62 |
-
</technique_common>
|
| 63 |
-
</source>
|
| 64 |
-
<vertices id="camera_base_link-mesh-vertices">
|
| 65 |
-
<input semantic="POSITION" source="#camera_base_link-mesh-positions"/>
|
| 66 |
-
</vertices>
|
| 67 |
-
<triangles material="粗糙不锈钢__1-material" count="1266">
|
| 68 |
-
<input semantic="VERTEX" source="#camera_base_link-mesh-vertices" offset="0"/>
|
| 69 |
-
<input semantic="NORMAL" source="#camera_base_link-mesh-normals" offset="1"/>
|
| 70 |
-
<p>0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 10 10 9 9 11 11 10 10 11 11 12 12 12 12 11 11 13 13 14 14 15 15 16 16 16 16 15 15 17 17 16 16 17 17 18 18 18 18 17 17 19 19 18 18 19 19 20 20 20 20 19 19 21 21 20 20 21 21 22 22 22 22 21 21 23 23 22 22 23 23 24 24 24 24 23 23 25 25 24 24 25 25 26 26 26 26 25 25 27 27 28 28 29 29 30 30 30 30 29 29 31 31 30 30 31 31 32 32 32 32 31 31 33 33 32 32 33 33 34 34 34 34 33 33 35 35 34 34 35 35 36 36 36 36 35 35 37 37 36 36 37 37 38 38 38 38 37 37 39 39 38 38 39 39 40 40 40 40 39 39 41 41 42 42 43 43 44 44 44 44 43 43 45 45 44 44 45 45 46 46 46 46 45 45 47 47 46 46 47 47 48 48 48 48 47 47 49 49 48 48 49 49 50 50 50 50 49 49 51 51 50 50 51 51 52 52 52 52 51 51 53 53 52 52 53 53 54 54 54 54 53 53 55 55 56 56 57 57 58 58 58 58 57 57 59 59 4 4 6 6 38 38 60 60 48 48 50 50 38 38 6 6 36 36 48 48 60 60 46 46 46 46 60 60 61 61 46 46 61 61 44 44 32 32 34 34 61 61 61 61 34 34 36 36 16 16 61 61 14 14 14 14 61 61 62 62 63 63 64 64 20 20 20 20 64 64 65 65 20 20 65 65 42 42 66 66 67 67 54 54 54 54 67 67 60 60 54 54 60 60 52 52 52 52 60 60 50 50 36 36 6 6 61 61 61 61 6 6 68 68 61 61 68 68 62 62 20 20 22 22 63 63 63 63 22 22 24 24 63 63 24 24 26 26 69 69 70 70 71 71 71 71 70 70 72 72 71 71 72 72 40 40 40 40 72 72 0 0 40 40 0 0 38 38 38 38 0 0 2 2 38 38 2 2 4 4 67 67 73 73 69 69 69 69 71 71 67 67 67 67 71 71 74 74 67 67 74 74 75 75 75 75 74 74 76 76 75 75 76 76 77 77 77 77 78 78 75 75 75 75 78 78 28 28 75 75 28 28 61 61 61 61 28 28 30 30 61 61 30 30 32 32 16 16 18 18 61 61 61 61 18 18 20 20 61 61 20 20 44 44 44 44 20 20 42 42 10 10 12 12 67 67 67 67 12 12 79 79 67 67 79 79 73 73 26 26 80 80 63 63 63 63 80 80 67 67 63 63 67 67 81 81 81 81 67 67 66 66 80 80 82 82 67 67 67 67 82 82 83 83 67 67 83 83 10 10 10 10 83 83 68 68 10 10 68 68 8 8 8 8 68 68 6 6 84 84 85 85 86 86 87 87 84 84 88 88 88 88 84 84 86 86 88 88 86 86 89 89 89 89 86 86 90 90 89 89 90 90 91 91 92 92 93 93 94 94 95 95 92 92 96 96 96 96 92 92 94 94 96 96 94 94 97 97 97 97 94 94 98 98 97 97 98 98 99 99 100 100 101 101 102 102 102 102 101 101 103 103 102 102 103 103 104 104 105 105 102 102 106 106 106 106 102 102 104 104 106 106 104 104 107 107 107 107 104 104 108 108 107 107 108 108 61 61 109 109 110 110 111 111 61 61 111 111 112 112 90 90 113 113 114 114 110 110 56 56 111 111 111 111 56 56 58 58 111 111 58 58 115 115 116 116 117 117 99 99 118 118 91 91 119 119 119 119 91 91 120 120 119 119 120 120 100 100 100 100 120 120 121 121 100 100 121 121 101 101 117 117 122 122 99 99 99 99 122 122 123 123 99 99 123 123 97 97 97 97 123 123 124 124 97 97 124 124 125 125 126 126 127 127 112 112 112 112 127 127 128 128 112 112 128 128 129 129 125 125 130 130 97 97 97 97 130 130 131 131 97 97 131 131 126 126 126 126 131 131 132 132 126 126 132 132 127 127 58 58 133 133 115 115 115 115 133 133 134 134 115 115 134 134 90 90 90 90 134 134 135 135 90 90 135 135 113 113 129 129 136 136 112 112 112 112 136 136 137 137 112 112 137 137 61 61 61 61 137 137 138 138 61 61 138 138 75 75 139 139 140 140 141 141 141 141 140 140 116 116 141 141 116 116 142 142 142 142 116 116 99 99 114 114 143 143 90 90 90 90 143 143 144 144 90 90 144 144 91 91 91 91 144 144 145 145 91 91 145 145 120 120 108 108 146 146 61 61 61 61 146 146 147 147 61 61 147 147 111 111 111 111 147 147 148 148 111 111 148 148 109 109 138 138 149 149 75 75 75 75 149 149 150 150 75 75 150 150 151 151 151 151 150 150 152 152 151 151 152 152 153 153 153 153 152 152 154 154 153 153 154 154 155 155 155 155 154 154 156 156 155 155 156 156 139 139 139 139 156 156 157 157 139 139 157 157 140 140 67 67 75 75 151 151 67 67 151 151 158 158 158 158 151 151 153 153 158 158 153 153 159 159 159 159 153 153 155 155 159 159 155 155 160 160 161 161 162 162 163 163 161 161 163 163 164 164 165 165 166 166 163 163 163 163 166 166 167 167 163 163 167 167 164 164 168 168 169 169 170 170 170 170 169 169 171 171 170 170 171 171 172 172 168 168 173 173 169 169 169 169 173 173 174 174 169 169 174 174 175 175 176 176 177 177 165 165 176 176 165 165 178 178 179 179 180 180 181 181 57 57 182 182 183 183 183 183 182 182 184 184 185 185 186 186 170 170 187 187 188 188 67 67 67 67 188 188 189 189 67 67 189 189 190 190 60 60 67 67 191 191 191 191 67 67 192 192 193 193 194 194 195 195 195 195 194 194 196 196 195 195 196 196 197 197 197 197 196 196 172 172 160 160 198 198 159 159 159 159 198 198 187 187 159 159 187 187 158 158 158 158 187 187 67 67 177 177 199 199 165 165 165 165 199 199 200 200 165 165 200 200 166 166 199 199 201 201 200 200 200 200 201 201 202 202 200 200 202 202 203 203 203 203 202 202 204 204 203 203 204 204 205 205 205 205 204 204 206 206 205 205 206 206 207 207 207 207 206 206 208 208 207 207 208 208 160 160 160 160 208 208 209 209 160 160 209 209 198 198 184 184 192 192 183 183 183 183 192 192 67 67 183 183 67 67 179 179 179 179 67 67 190 190 179 179 190 190 180 180 186 186 210 210 170 170 170 170 210 210 211 211 170 170 211 211 212 212 212 212 211 211 213 213 212 212 213 213 183 183 183 183 213 213 59 59 183 183 59 59 57 57 178 178 165 165 214 214 214 214 165 165 215 215 214 214 215 215 216 216 191 191 217 217 60 60 60 60 217 217 218 218 60 60 218 218 219 219 219 219 218 218 220 220 219 219 220 220 221 221 221 221 220 220 222 222 222 222 220 220 223 223 223 223 220 220 224 224 223 223 224 224 193 193 193 193 224 224 225 225 193 193 225 225 194 194 181 181 226 226 179 179 179 179 226 226 227 227 179 179 227 227 215 215 215 215 227 227 228 228 215 215 228 228 216 216 196 196 229 229 172 172 172 172 229 229 230 230 172 172 230 230 170 170 170 170 230 230 231 231 170 170 231 231 185 185 223 223 102 102 105 105 223 223 105 105 222 222 222 222 105 105 106 106 222 222 106 106 221 221 221 221 106 106 107 107 221 221 107 107 219 219 219 219 107 107 61 61 219 219 61 61 60 60 12 12 13 13 79 79 79 79 13 13 232 232 79 79 232 232 73 73 73 73 232 232 233 233 73 73 233 233 69 69 69 69 233 233 234 234 69 69 234 234 70 70 70 70 234 234 235 235 70 70 235 235 72 72 72 72 235 235 236 236 72 72 236 236 0 0 0 0 236 236 1 1 26 26 27 27 80 80 80 80 27 27 237 237 80 80 237 237 82 82 82 82 237 237 238 238 82 82 238 238 83 83 83 83 238 238 239 239 83 83 239 239 68 68 68 68 239 239 240 240 68 68 240 240 62 62 62 62 240 240 241 241 62 62 241 241 14 14 14 14 241 241 15 15 40 40 41 41 71 71 71 71 41 41 242 242 71 71 242 242 74 74 74 74 242 242 243 243 74 74 243 243 76 76 76 76 243 243 244 244 76 76 244 244 77 77 77 77 244 244 245 245 77 77 245 245 78 78 78 78 245 245 246 246 78 78 246 246 28 28 28 28 246 246 29 29 54 54 55 55 66 66 66 66 55 55 247 247 66 66 247 247 81 81 81 81 247 247 248 248 81 81 248 248 63 63 63 63 248 248 249 249 63 63 249 249 64 64 64 64 249 249 250 250 64 64 250 250 65 65 65 65 250 250 251 251 65 65 251 251 42 42 42 42 251 251 43 43 160 160 155 155 207 207 207 207 155 155 139 139 207 207 139 139 141 141 207 207 141 141 205 205 205 205 141 141 142 142 205 205 142 142 203 203 203 203 142 142 99 99 203 203 99 99 200 200 200 200 99 99 166 166 166 166 99 99 98 98 164 164 93 93 161 161 161 161 93 93 92 92 161 161 92 92 162 162 162 162 92 92 95 95 162 162 95 95 163 163 163 163 95 95 96 96 163 163 96 96 165 165 165 165 96 96 97 97 165 165 97 97 215 215 215 215 97 97 126 126 215 215 126 126 179 179 179 179 126 126 112 112 235 235 234 234 242 242 47 47 45 45 239 239 242 242 234 234 243 243 3 3 1 1 41 41 243 243 234 234 244 244 244 244 234 234 112 112 244 244 112 112 245 245 248 248 247 247 179 179 179 179 247 247 55 55 179 179 55 55 183 183 47 47 239 239 49 49 49 49 239 239 238 238 49 49 238 238 237 237 41 41 1 1 242 242 242 242 1 1 236 236 242 242 236 236 235 235 33 33 31 31 111 111 111 111 31 31 29 29 111 111 29 29 112 112 112 112 29 29 246 246 112 112 246 246 245 245 13 13 11 11 183 183 3 3 41 41 5 5 5 5 41 41 39 39 5 5 39 39 7 7 7 7 39 39 37 37 7 7 37 37 35 35 241 241 240 240 112 112 112 112 240 240 239 239 55 55 53 53 183 183 183 183 53 53 51 51 183 183 51 51 49 49 13 13 183 183 232 232 232 232 183 183 21 21 232 232 21 21 233 233 233 233 21 21 19 19 233 233 19 19 234 234 234 234 19 19 17 17 234 234 17 17 112 112 112 112 17 17 15 15 112 112 15 15 241 241 11 11 9 9 183 183 183 183 9 9 7 7 183 183 7 7 111 111 111 111 7 7 35 35 111 111 35 35 33 33 45 45 43 43 239 239 239 239 43 43 251 251 239 239 251 251 112 112 112 112 251 251 250 250 112 112 250 250 179 179 179 179 250 250 249 249 179 179 249 249 248 248 237 237 27 27 49 49 49 49 27 27 25 25 49 49 25 25 183 183 183 183 25 25 23 23 183 183 23 23 21 21 183 183 111 111 212 212 212 212 111 111 115 115 212 212 115 115 170 170 170 170 115 115 90 90 170 170 90 90 168 168 168 168 90 90 86 86 168 168 86 86 173 173 173 173 86 86 85 85 173 173 85 85 174 174 174 174 85 85 84 84 174 174 84 84 175 175 175 175 84 84 87 87 171 171 89 89 172 172 172 172 89 89 91 91 172 172 91 91 118 118 172 172 118 118 197 197 197 197 118 118 119 119 197 197 119 119 195 195 195 195 119 119 100 100 195 195 100 100 193 193 193 193 100 100 223 223 223 223 100 100 102 102 228 228 227 227 127 127 127 127 227 227 128 128 178 178 214 214 130 130 130 130 214 214 131 131 201 201 199 199 122 122 122 122 199 199 123 123 209 209 208 208 156 156 156 156 208 208 157 157 190 190 189 189 138 138 138 138 189 189 149 149 128 128 227 227 129 129 129 129 227 227 226 226 129 129 226 226 136 136 136 136 226 226 181 181 136 136 181 181 137 137 137 137 181 181 180 180 137 137 180 180 138 138 138 138 180 180 190 190 225 225 224 224 101 101 101 101 224 224 103 103 230 230 229 229 144 144 144 144 229 229 145 145 211 211 210 210 134 134 134 134 210 210 135 135 59 59 213 213 58 58 58 58 213 213 133 133 217 217 191 191 146 146 146 146 191 191 147 147 166 166 98 98 167 167 167 167 98 98 94 94 167 167 94 94 164 164 164 164 94 94 93 93 175 175 87 87 169 169 169 169 87 87 88 88 169 169 88 88 171 171 171 171 88 88 89 89 131 131 214 214 216 216 131 131 216 216 132 132 132 132 216 216 228 228 132 132 228 228 127 127 123 123 199 199 124 124 124 124 199 199 177 177 124 124 177 177 125 125 125 125 177 177 176 176 125 125 176 176 130 130 130 130 176 176 178 178 157 157 208 208 140 140 140 140 208 208 206 206 140 140 206 206 116 116 116 116 206 206 204 204 116 116 204 204 117 117 117 117 204 204 202 202 117 117 202 202 122 122 122 122 202 202 201 201 149 149 189 189 150 150 150 150 189 189 188 188 150 150 188 188 152 152 152 152 188 188 187 187 152 152 187 187 154 154 154 154 187 187 198 198 154 154 198 198 156 156 156 156 198 198 209 209 103 103 224 224 104 104 104 104 224 224 220 220 104 104 220 220 108 108 108 108 220 220 218 218 108 108 218 218 146 146 146 146 218 218 217 217 145 145 229 229 120 120 120 120 229 229 196 196 120 120 196 196 121 121 121 121 196 196 194 194 121 121 194 194 101 101 101 101 194 194 225 225 135 135 210 210 113 113 113 113 210 210 186 186 113 113 186 186 114 114 114 114 186 186 185 185 114 114 185 185 143 143 143 143 185 185 231 231 143 143 231 231 144 144 144 144 231 231 230 230 213 213 211 211 133 133 133 133 211 211 134 134 147 147 191 191 148 148 148 148 191 191 192 192 148 148 192 192 109 109 109 109 192 192 184 184 109 109 184 184 110 110 110 110 184 184 182 182 110 110 182 182 56 56 56 56 182 182 57 57 252 252 253 253 254 254 254 254 253 253 255 255 254 254 255 255 256 256 256 256 255 255 257 257 256 256 257 257 258 258 258 258 257 257 259 259 258 258 259 259 260 260 260 260 259 259 261 261 260 260 261 261 262 262 262 262 261 261 263 263 262 262 263 263 264 264 264 264 263 263 265 265 266 266 267 267 268 268 268 268 267 267 269 269 268 268 269 269 270 270 270 270 269 269 271 271 270 270 271 271 272 272 272 272 271 271 273 273 272 272 273 273 274 274 274 274 273 273 275 275 274 274 275 275 276 276 276 276 275 275 277 277 276 276 277 277 278 278 278 278 277 277 279 279 280 280 281 281 282 282 282 282 281 281 283 283 282 282 283 283 284 284 284 284 283 283 285 285 284 284 285 285 286 286 286 286 285 285 287 287 286 286 287 287 288 288 288 288 287 287 289 289 288 288 289 289 290 290 290 290 289 289 291 291 290 290 291 291 292 292 292 292 291 291 293 293 294 294 295 295 296 296 296 296 295 295 297 297 296 296 297 297 298 298 298 298 297 297 299 299 298 298 299 299 300 300 300 300 299 299 301 301 300 300 301 301 302 302 302 302 301 301 303 303 302 302 303 303 304 304 304 304 303 303 305 305 304 304 305 305 306 306 306 306 305 305 307 307 308 308 309 309 310 310 310 310 309 309 311 311 310 310 311 311 312 312 312 312 311 311 313 313 312 312 313 313 314 314 314 314 313 313 315 315 314 314 315 315 316 316 316 316 315 315 317 317 316 316 317 317 318 318 318 318 317 317 319 319 318 318 319 319 320 320 320 320 319 319 321 321 322 322 323 323 324 324 324 324 323 323 325 325 324 324 325 325 326 326 326 326 325 325 327 327 326 326 327 327 328 328 328 328 327 327 329 329 328 328 329 329 330 330 330 330 329 329 331 331 330 330 331 331 332 332 332 332 331 331 333 333 332 332 333 333 334 334 334 334 333 333 335 335 336 336 276 276 278 278 337 337 338 338 339 339 339 339 338 338 340 340 339 339 340 340 341 341 268 268 270 270 342 342 342 342 270 270 272 272 342 342 272 272 336 336 336 336 272 272 274 274 336 336 274 274 276 276 343 343 344 344 266 266 266 266 344 344 345 345 266 266 345 345 346 346 347 347 348 348 349 349 342 342 350 350 268 268 268 268 350 350 351 351 268 268 351 351 266 266 266 266 351 351 352 352 266 266 352 352 343 343 353 353 339 339 354 354 354 354 339 339 341 341 354 354 341 341 355 355 355 355 341 341 346 346 355 355 346 346 356 356 356 356 346 346 345 345 349 349 336 336 347 347 347 347 336 336 278 278 347 347 278 278 337 337 337 337 278 278 357 357 337 337 357 357 338 338 355 355 356 356 358 358 358 358 356 356 359 359 360 360 361 361 362 362 252 252 363 363 364 364 365 365 366 366 254 254 363 363 252 252 367 367 367 367 252 252 254 254 367 367 254 254 368 368 368 368 254 254 366 366 368 368 366 366 369 369 254 254 256 256 365 365 365 365 256 256 258 258 365 365 258 258 370 370 371 371 372 372 373 373 373 373 372 372 374 374 373 373 374 374 361 361 361 361 374 374 375 375 361 361 375 375 362 362 264 264 376 376 262 262 262 262 376 376 370 370 262 262 370 370 260 260 260 260 370 370 258 258 377 377 378 378 373 373 373 373 378 378 376 376 373 373 376 376 371 371 371 371 376 376 264 264 364 364 379 379 252 252 252 252 379 379 380 380 252 252 380 380 362 362 362 362 380 380 381 381 362 362 381 381 360 360 382 382 383 383 384 384 385 385 386 386 387 387 387 387 386 386 382 382 387 387 382 382 388 388 388 388 382 382 384 384 389 389 390 390 391 391 391 391 390 390 392 392 391 391 392 392 393 393 393 393 392 392 394 394 393 393 394 394 395 395 395 395 394 394 396 396 395 395 396 396 397 397 397 397 396 396 386 386 397 397 386 386 398 398 398 398 386 386 385 385 399 399 400 400 401 401 401 401 400 400 402 402 401 401 402 402 403 403 404 404 401 401 405 405 405 405 401 401 403 403 405 405 403 403 406 406 406 406 403 403 407 407 407 407 408 408 406 406 406 406 408 408 409 409 406 406 409 409 410 410 411 411 412 412 413 413 414 414 415 415 416 416 416 416 415 415 411 411 416 416 411 411 417 417 417 417 411 411 413 413 418 418 419 419 420 420 420 420 419 419 421 421 420 420 421 421 422 422 422 422 421 421 423 423 422 422 423 423 424 424 424 424 423 423 425 425 424 424 425 425 412 412 412 412 425 425 426 426 412 412 426 426 413 413 413 413 426 426 427 427 290 290 292 292 294 294 428 428 429 429 280 280 399 399 430 430 431 431 431 431 432 432 399 399 399 399 432 432 280 280 399 399 280 280 433 433 433 433 280 280 429 429 433 433 429 429 434 434 435 435 436 436 399 399 399 399 436 436 437 437 399 399 437 437 430 430 430 430 437 437 438 438 399 399 401 401 435 435 435 435 401 401 439 439 435 435 439 439 440 440 440 440 439 439 441 441 294 294 292 292 437 437 437 437 292 292 442 442 437 437 442 442 438 438 280 280 282 282 428 428 428 428 282 282 284 284 428 428 284 284 286 286 443 443 428 428 300 300 300 300 428 428 298 298 300 300 302 302 443 443 443 443 302 302 304 304 443 443 304 304 439 439 439 439 304 304 306 306 439 439 306 306 441 441 298 298 428 428 296 296 296 296 428 428 286 286 296 296 286 286 294 294 294 294 286 286 288 288 294 294 288 288 290 290 444 444 445 445 392 392 392 392 445 445 394 394 446 446 447 447 368 368 368 368 447 447 367 367 420 420 422 422 448 448 448 448 422 422 449 449 450 450 451 451 452 452 451 451 453 453 452 452 452 452 453 453 307 307 452 452 307 307 454 454 295 295 455 455 297 297 297 297 455 455 293 293 307 307 305 305 454 454 454 454 305 305 303 303 454 454 303 303 301 301 287 287 456 456 289 289 289 289 456 456 454 454 289 289 454 454 291 291 291 291 454 454 301 301 291 291 301 301 293 293 293 293 301 301 299 299 293 293 299 299 297 297 287 287 285 285 456 456 456 456 285 285 283 283 456 456 283 283 457 457 457 457 283 283 281 281 281 281 458 458 457 457 457 457 458 458 459 459 457 457 459 459 460 460 450 450 452 452 461 461 461 461 452 452 457 457 461 461 457 457 462 462 462 462 457 457 460 460 462 462 460 460 295 295 295 295 460 460 463 463 295 295 463 463 455 455 457 457 452 452 464 464 464 464 452 452 465 465 466 466 467 467 468 468 468 468 467 467 469 469 466 466 468 468 470 470 470 470 468 468 471 471 470 470 471 471 320 320 320 320 471 471 322 322 320 320 322 322 318 318 310 310 472 472 308 308 308 308 472 472 464 464 308 308 464 464 473 473 473 473 464 464 474 474 310 310 312 312 472 472 472 472 312 312 314 314 472 472 314 314 475 475 475 475 314 314 316 316 475 475 316 316 318 318 328 328 475 475 326 326 326 326 475 475 318 318 326 326 318 318 324 324 324 324 318 318 322 322 328 328 330 330 475 475 475 475 330 330 332 332 475 475 332 332 465 465 465 465 332 332 334 334 465 465 334 334 476 476 476 476 477 477 465 465 465 465 477 477 469 469 465 465 469 469 464 464 464 464 469 469 467 467 464 464 467 467 474 474 472 472 475 475 456 456 456 456 475 475 454 454 478 478 479 479 475 475 475 475 479 479 454 454 454 454 479 479 448 448 454 454 448 448 449 449 452 452 445 445 444 444 480 480 443 443 454 454 452 452 444 444 465 465 444 444 481 481 465 465 465 465 481 481 482 482 465 465 482 482 483 483 475 475 358 358 359 359 454 454 443 443 452 452 452 452 443 443 439 439 452 452 439 439 484 484 358 358 475 475 446 446 446 446 475 475 465 465 446 446 465 465 447 447 447 447 465 465 483 483 447 447 483 483 485 485 449 449 486 486 454 454 454 454 486 486 487 487 454 454 487 487 480 480 359 359 488 488 475 475 475 475 488 488 489 489 475 475 489 489 478 478 484 484 490 490 452 452 452 452 490 490 491 491 452 452 491 491 445 445 271 271 492 492 273 273 273 273 492 492 493 493 273 273 493 493 275 275 275 275 493 493 277 277 279 279 494 494 495 495 495 495 494 494 496 496 495 495 496 496 497 497 498 498 499 499 500 500 500 500 499 499 501 501 500 500 501 501 502 502 502 502 501 501 503 503 504 504 505 505 496 496 496 496 505 505 502 502 506 506 507 507 493 493 493 493 507 507 494 494 493 493 494 494 277 277 277 277 494 494 279 279 271 271 269 269 492 492 492 492 269 269 267 267 492 492 267 267 508 508 503 503 509 509 502 502 502 502 509 509 265 265 502 502 265 265 496 496 496 496 265 265 263 263 496 496 263 263 497 497 497 497 263 263 261 261 497 497 261 261 510 510 510 510 261 261 259 259 510 510 259 259 511 511 511 511 259 259 257 257 512 512 513 513 500 500 500 500 513 513 514 514 500 500 514 514 498 498 515 515 516 516 517 517 517 517 518 518 515 515 515 515 518 518 519 519 515 515 519 519 514 514 514 514 519 519 253 253 514 514 253 253 498 498 520 520 492 492 257 257 257 257 492 492 508 508 257 257 508 508 511 511 519 519 521 521 253 253 253 253 521 521 522 522 253 253 522 522 255 255 255 255 522 522 433 433 255 255 433 433 257 257 257 257 433 433 434 434 257 257 434 434 520 520 520 520 523 523 492 492 492 492 523 523 524 524 492 492 524 524 525 525 526 526 527 527 528 528 528 528 527 527 492 492 528 528 492 492 529 529 529 529 492 492 525 525 529 529 525 525 530 530 530 530 525 525 531 531 456 456 457 457 472 472 472 472 457 457 464 464 334 334 335 335 476 476 476 476 335 335 532 532 476 476 532 532 477 477 477 477 532 532 533 533 477 477 533 533 469 469 469 469 533 533 534 534 469 469 534 534 468 468 468 468 534 534 535 535 468 468 535 535 471 471 471 471 535 535 536 536 471 471 536 536 322 322 322 322 536 536 323 323 320 320 321 321 470 470 470 470 321 321 537 537 470 470 537 537 466 466 466 466 537 537 538 538 466 466 538 538 467 467 467 467 538 538 539 539 467 467 539 539 474 474 474 474 539 539 540 540 474 474 540 540 473 473 473 473 540 540 541 541 473 473 541 541 308 308 308 308 541 541 309 309 306 306 307 307 441 441 441 441 307 307 453 453 441 441 453 453 440 440 440 440 453 453 451 451 440 440 451 451 435 435 435 435 451 451 450 450 435 435 450 450 436 436 436 436 450 450 461 461 436 436 461 461 437 437 437 437 461 461 462 462 437 437 462 462 294 294 294 294 462 462 295 295 292 292 293 293 442 442 442 442 293 293 455 455 442 442 455 455 438 438 438 438 455 455 463 463 438 438 463 463 430 430 430 430 463 463 460 460 430 430 460 460 431 431 431 431 460 460 459 459 431 431 459 459 432 432 432 432 459 459 458 458 432 432 458 458 280 280 280 280 458 458 281 281 519 519 518 518 403 403 403 403 518 518 407 407 410 410 515 515 387 387 387 387 515 515 514 514 387 387 514 514 385 385 502 502 373 373 361 361 502 502 361 361 500 500 500 500 361 361 393 393 500 500 393 393 395 395 336 336 493 493 342 342 342 342 493 493 492 492 342 342 492 492 423 423 423 423 492 492 425 425 529 529 542 542 528 528 528 528 542 542 417 417 528 528 417 417 413 413 543 543 544 544 524 524 524 524 544 544 525 525 278 278 279 279 357 357 357 357 279 279 495 495 357 357 495 495 338 338 338 338 495 495 497 497 338 338 497 497 340 340 340 340 497 497 510 510 340 340 510 510 341 341 341 341 510 510 511 511 341 341 511 511 346 346 346 346 511 511 508 508 346 346 508 508 266 266 266 266 508 508 267 267 264 264 265 265 371 371 371 371 265 265 509 509 371 371 509 509 372 372 372 372 509 509 503 503 372 372 503 503 374 374 374 374 503 503 501 501 374 374 501 501 375 375 375 375 501 501 499 499 375 375 499 499 362 362 362 362 499 499 498 498 362 362 498 498 252 252 252 252 498 498 253 253 428 428 545 545 546 546 547 547 548 548 544 544 546 546 549 549 428 428 428 428 549 549 550 550 428 428 550 550 429 429 542 542 547 547 551 551 551 551 547 547 544 544 551 551 544 544 546 546 546 546 544 544 543 543 546 546 543 543 549 549 385 385 514 514 513 513 385 385 513 513 398 398 398 398 513 513 512 512 398 398 512 512 397 397 397 397 512 512 500 500 397 397 500 500 395 395 407 407 518 518 517 517 407 407 517 517 408 408 408 408 517 517 516 516 408 408 516 516 409 409 409 409 516 516 515 515 409 409 515 515 410 410 525 525 544 544 548 548 525 525 548 548 531 531 531 531 548 548 547 547 531 531 547 547 530 530 530 530 547 547 542 542 530 530 542 542 529 529 528 528 413 413 427 427 528 528 427 427 526 526 526 526 427 427 426 426 526 526 426 426 527 527 527 527 426 426 425 425 527 527 425 425 492 492 552 552 553 553 480 480 480 480 553 553 554 554 480 480 554 554 443 443 555 555 556 556 557 557 557 557 558 558 555 555 555 555 558 558 559 559 555 555 559 559 560 560 555 555 561 561 556 556 556 556 561 561 562 562 556 556 562 562 480 480 480 480 562 562 563 563 480 480 563 563 552 552 417 417 542 542 564 564 564 564 542 542 555 555 564 564 555 555 565 565 565 565 555 555 560 560 564 564 416 416 417 417 551 551 555 555 542 542 448 448 479 479 566 566 566 566 479 479 567 567 568 568 569 569 479 479 479 479 569 569 570 570 479 479 570 570 567 567 342 342 423 423 571 571 571 571 423 423 572 572 571 571 572 572 573 573 573 573 572 572 574 574 573 573 574 574 575 575 575 575 574 574 568 568 575 575 568 568 576 576 576 576 568 568 479 479 571 571 350 350 342 342 421 421 572 572 423 423 577 577 578 578 439 439 439 439 578 578 579 579 439 439 579 579 484 484 580 580 581 581 582 582 582 582 583 583 580 580 580 580 583 583 584 584 580 580 584 584 585 585 580 580 586 586 581 581 581 581 586 586 587 587 581 581 587 587 439 439 439 439 587 587 588 588 439 439 588 588 577 577 410 410 387 387 589 589 589 589 387 387 580 580 589 589 580 580 590 590 590 590 580 580 585 585 388 388 580 580 387 387 589 589 406 406 410 410 591 591 481 481 444 444 591 591 444 444 592 592 592 592 444 444 593 593 592 592 593 593 594 594 595 595 596 596 361 361 594 594 593 593 597 597 597 597 593 593 598 598 597 597 598 598 361 361 361 361 598 598 599 599 361 361 599 599 595 595 596 596 600 600 361 361 361 361 600 600 601 601 361 361 601 601 393 393 360 360 597 597 361 361 601 601 391 391 393 393 482 482 379 379 364 364 482 482 364 364 483 483 483 483 364 364 363 363 483 483 363 363 485 485 485 485 363 363 367 367 485 485 367 367 447 447 359 359 356 356 345 345 359 359 345 345 488 488 488 488 345 345 344 344 488 488 344 344 489 489 489 489 344 344 343 343 489 489 343 343 478 478 484 484 382 382 386 386 484 484 386 386 490 490 490 490 386 386 396 396 490 490 396 396 491 491 491 491 396 396 394 394 491 491 394 394 445 445 449 449 422 422 424 424 449 449 424 424 486 486 486 486 424 424 412 412 486 486 412 412 487 487 487 487 412 412 411 411 487 487 411 411 480 480 343 343 352 352 478 478 478 478 352 352 576 576 478 478 576 576 479 479 350 350 571 571 351 351 351 351 571 571 573 573 351 351 573 573 352 352 352 352 573 573 575 575 352 352 575 575 576 576 569 569 568 568 418 418 418 418 568 568 574 574 418 418 574 574 419 419 419 419 574 574 572 572 419 419 572 572 421 421 570 570 569 569 602 602 567 567 570 570 566 566 566 566 570 570 602 602 566 566 602 602 448 448 569 569 418 418 602 602 602 602 418 418 420 420 602 602 420 420 448 448 560 560 559 559 558 558 558 558 557 557 556 556 480 480 411 411 415 415 556 556 480 480 558 558 558 558 480 480 415 415 558 558 415 415 560 560 560 560 415 415 414 414 416 416 564 564 414 414 414 414 564 564 565 565 414 414 565 565 560 560 563 563 562 562 545 545 545 545 562 562 561 561 545 545 561 561 546 546 546 546 561 561 555 555 546 546 555 555 551 551 552 552 563 563 603 603 553 553 552 552 554 554 554 554 552 552 603 603 554 554 603 603 443 443 563 563 545 545 603 603 603 603 545 545 428 428 603 603 428 428 443 443 399 399 433 433 400 400 400 400 433 433 522 522 400 400 522 522 402 402 402 402 522 522 521 521 402 402 521 521 403 403 403 403 521 521 519 519 434 434 429 429 520 520 520 520 429 429 550 550 520 520 550 550 523 523 523 523 550 550 549 549 523 523 549 549 524 524 524 524 549 549 543 543 585 585 584 584 583 583 583 583 582 582 581 581 439 439 401 401 404 404 581 581 439 439 583 583 583 583 439 439 404 404 583 583 404 404 585 585 585 585 404 404 405 405 406 406 589 589 405 405 405 405 589 589 590 590 405 405 590 590 585 585 588 588 587 587 383 383 383 383 587 587 586 586 383 383 586 586 384 384 384 384 586 586 580 580 384 384 580 580 388 388 577 577 588 588 604 604 578 578 577 577 579 579 579 579 577 577 604 604 579 579 604 604 484 484 588 588 383 383 604 604 604 604 383 383 382 382 604 604 382 382 484 484 596 596 595 595 599 599 599 599 598 598 593 593 444 444 392 392 390 390 593 593 444 444 599 599 599 599 444 444 390 390 599 599 390 390 596 596 596 596 390 390 389 389 391 391 601 601 389 389 389 389 601 601 600 600 389 389 600 600 596 596 597 597 360 360 381 381 597 597 381 381 594 594 594 594 381 381 380 380 594 594 380 380 592 592 482 482 481 481 591 591 592 592 380 380 591 591 591 591 380 380 379 379 591 591 379 379 482 482 494 494 347 347 337 337 494 494 337 337 496 496 496 496 337 337 370 370 496 496 370 370 376 376 605 605 365 365 370 370 339 339 606 606 337 337 607 607 358 358 446 446 608 608 609 609 446 446 446 446 609 609 610 610 446 446 610 610 607 607 608 608 446 446 611 611 611 611 446 446 612 612 611 611 612 612 606 606 612 612 613 613 606 606 606 606 613 613 614 614 606 606 614 614 615 615 370 370 337 337 605 605 605 605 337 337 606 606 605 605 606 606 616 616 616 616 606 606 615 615 315 315 313 313 311 311 537 537 321 321 319 319 540 540 539 539 541 541 541 541 539 539 315 315 541 541 315 315 309 309 309 309 315 315 311 311 539 539 538 538 315 315 315 315 538 538 537 537 315 315 537 537 317 317 317 317 537 537 319 319 329 329 327 327 325 325 323 323 536 536 325 325 325 325 536 536 535 535 325 325 535 535 534 534 335 335 333 333 532 532 532 532 333 333 331 331 331 331 329 329 532 532 532 532 329 329 325 325 532 532 325 325 533 533 533 533 325 325 534 534 347 347 494 494 507 507 347 347 507 507 348 348 348 348 507 507 506 506 348 348 506 506 349 349 349 349 506 506 493 493 349 349 493 493 336 336 496 496 376 376 378 378 496 496 378 378 504 504 504 504 378 378 377 377 504 504 377 377 505 505 505 505 377 377 373 373 505 505 373 373 502 502 606 606 339 339 353 353 354 354 608 608 353 353 353 353 608 608 611 611 353 353 611 611 606 606 358 358 607 607 355 355 355 355 607 607 610 610 355 355 610 610 354 354 354 354 610 610 609 609 354 354 609 609 608 608 446 446 368 368 612 612 612 612 368 368 369 369 612 612 369 369 613 613 616 616 615 615 369 369 369 369 615 615 614 614 369 369 614 614 613 613 369 369 366 366 616 616 616 616 366 366 365 365 616 616 365 365 605 605</p>
|
| 71 |
-
</triangles>
|
| 72 |
-
</mesh>
|
| 73 |
-
</geometry>
|
| 74 |
-
</library_geometries>
|
| 75 |
-
<library_visual_scenes>
|
| 76 |
-
<visual_scene id="Scene" name="Scene">
|
| 77 |
-
<node id="camera_base_link" name="camera_base_link" type="NODE">
|
| 78 |
-
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
| 79 |
-
<instance_geometry url="#camera_base_link-mesh" name="camera_base_link">
|
| 80 |
-
<bind_material>
|
| 81 |
-
<technique_common>
|
| 82 |
-
<instance_material symbol="粗糙不锈钢__1-material" target="#粗糙不锈钢__1-material"/>
|
| 83 |
-
</technique_common>
|
| 84 |
-
</bind_material>
|
| 85 |
-
</instance_geometry>
|
| 86 |
-
</node>
|
| 87 |
-
</visual_scene>
|
| 88 |
-
</library_visual_scenes>
|
| 89 |
-
<scene>
|
| 90 |
-
<instance_visual_scene url="#Scene"/>
|
| 91 |
-
</scene>
|
| 92 |
-
</COLLADA>
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2392dd35f69ea9f364e0acd30951cc0128ba51baa662513d7dbf52a87b2ba346
|
| 3 |
+
size 71882
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster.stl
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster.stl and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster.stl differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster_L.stl
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster_L.stl and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/caster_L.stl differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/castor.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/castor_joint.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link1.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link2.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link3.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link4.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link5.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link6.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.STL and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.STL differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link7.dae
CHANGED
|
@@ -1,103 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
<contributor>
|
| 5 |
-
<author>Blender User</author>
|
| 6 |
-
<authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
|
| 7 |
-
</contributor>
|
| 8 |
-
<created>2024-07-25T15:54:50</created>
|
| 9 |
-
<modified>2024-07-25T15:54:50</modified>
|
| 10 |
-
<unit name="meter" meter="1"/>
|
| 11 |
-
<up_axis>Z_UP</up_axis>
|
| 12 |
-
</asset>
|
| 13 |
-
<library_effects>
|
| 14 |
-
<effect id="哑光漆_黑色__1-effect">
|
| 15 |
-
<profile_COMMON>
|
| 16 |
-
<newparam sid="Image_269-surface">
|
| 17 |
-
<surface type="2D">
|
| 18 |
-
<init_from>Image_269</init_from>
|
| 19 |
-
</surface>
|
| 20 |
-
</newparam>
|
| 21 |
-
<newparam sid="Image_269-sampler">
|
| 22 |
-
<sampler2D>
|
| 23 |
-
<source>Image_269-surface</source>
|
| 24 |
-
</sampler2D>
|
| 25 |
-
</newparam>
|
| 26 |
-
<technique sid="common">
|
| 27 |
-
<lambert>
|
| 28 |
-
<emission>
|
| 29 |
-
<color sid="emission">0 0 0 1</color>
|
| 30 |
-
</emission>
|
| 31 |
-
<diffuse>
|
| 32 |
-
<texture texture="Image_269-sampler"/>
|
| 33 |
-
</diffuse>
|
| 34 |
-
<index_of_refraction>
|
| 35 |
-
<float sid="ior">1.5</float>
|
| 36 |
-
</index_of_refraction>
|
| 37 |
-
</lambert>
|
| 38 |
-
</technique>
|
| 39 |
-
</profile_COMMON>
|
| 40 |
-
</effect>
|
| 41 |
-
</library_effects>
|
| 42 |
-
<library_images>
|
| 43 |
-
<image id="Image_269" name="Image_269">
|
| 44 |
-
<init_from>Image_269.png</init_from>
|
| 45 |
-
</image>
|
| 46 |
-
</library_images>
|
| 47 |
-
<library_materials>
|
| 48 |
-
<material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
|
| 49 |
-
<instance_effect url="#哑光漆_黑色__1-effect"/>
|
| 50 |
-
</material>
|
| 51 |
-
</library_materials>
|
| 52 |
-
<library_geometries>
|
| 53 |
-
<geometry id="link7-mesh" name="link7">
|
| 54 |
-
<mesh>
|
| 55 |
-
<source id="link7-mesh-positions">
|
| 56 |
-
<float_array id="link7-mesh-positions-array" count="1950">-0.005999982 -0.003394365 -0.01718646 -0.01499998 -0.003394365 -0.01718646 -0.005999982 -0.003729343 -0.01843643 -0.01499998 -0.003729343 -0.01843643 -0.005999982 -0.004644393 -0.01935154 -0.01499998 -0.004644393 -0.01935154 -0.005999982 -0.005894362 -0.01968646 -0.01499998 -0.005894362 -0.01968646 -0.005999982 -0.007144391 -0.01935154 -0.01499998 -0.007144391 -0.01935154 -0.005999982 -0.008059442 -0.01843643 -0.01499998 -0.008059442 -0.01843643 -0.005999982 -0.00839436 -0.01718646 -0.01499998 -0.00839436 -0.01718646 -0.005999982 0.008605539 -0.01739645 -0.01499998 0.008605539 -0.01739645 -0.005999982 0.008270621 -0.01864647 -0.01499998 0.008270621 -0.01864647 -0.005999982 0.00735557 -0.01956152 -0.01499998 0.00735557 -0.01956152 -0.005999982 0.006105542 -0.01989644 -0.01499998 0.006105542 -0.01989644 -0.005999982 0.004855573 -0.01956152 -0.01499998 0.004855573 -0.01956152 -0.005999982 0.003940463 -0.01864647 -0.01499998 0.003940463 -0.01864647 -0.005999982 0.003605544 -0.01739645 -0.01499998 0.003605544 -0.01739645 -0.004999995 0.001805543 0.007603466 -0.003199994 0.001805543 0.007603466 -0.004999995 0.002019882 0.006803452 -0.003199994 0.002019882 0.006803452 -0.004999995 0.002605557 0.006217837 -0.003199994 0.002605557 0.006217837 -0.004999995 0.00340557 0.006003439 -0.003199994 0.00340557 0.006003439 -0.004999995 0.004205524 0.006217837 -0.003199994 0.004205524 0.006217837 -0.004999995 0.0047912 0.006803452 -0.003199994 0.0047912 0.006803452 -0.004999995 0.005005538 0.007603466 -0.003199994 0.005005538 0.007603466 -0.004999995 0.001805543 -0.007396459 -0.003199994 0.001805543 -0.007396459 -0.004999995 0.002019882 -0.008196473 -0.003199994 0.002019882 -0.008196473 -0.004999995 0.002605557 -0.008782148 -0.003199994 0.002605557 -0.008782148 -0.004999995 0.00340557 -0.008996486 -0.003199994 0.00340557 -0.008996486 -0.004999995 0.004205524 -0.008782148 -0.003199994 0.004205524 -0.008782148 -0.004999995 0.0047912 -0.008196473 -0.003199994 0.0047912 -0.008196473 -0.004999995 0.005005538 -0.007396459 -0.003199994 0.005005538 -0.007396459 -0.004999995 -0.008194386 -0.007396459 -0.003199994 -0.008194386 -0.007396459 -0.004999995 -0.007980048 -0.008196473 -0.003199994 -0.007980048 -0.008196473 -0.004999995 -0.007394373 -0.008782148 -0.003199994 -0.007394373 -0.008782148 -0.004999995 -0.006594359 -0.008996486 -0.003199994 -0.006594359 -0.008996486 -0.004999995 -0.005794405 -0.008782148 -0.003199994 -0.005794405 -0.008782148 -0.004999995 -0.00520873 -0.008196473 -0.003199994 -0.00520873 -0.008196473 -0.004999995 -0.004994392 -0.007396459 -0.003199994 -0.004994392 -0.007396459 -0.003199994 4.05582e-4 0.007603466 0 4.05582e-4 0.007603466 -0.003199994 8.07506e-4 0.006103456 0 8.07506e-4 0.006103456 -0.003199994 0.00190556 0.005005359 0 0.00190556 0.005005359 -0.003199994 0.00340557 0.004603445 0 0.00340557 0.004603445 -0.003199994 0.004905581 0.005005359 0 0.004905581 0.005005359 -0.003199994 0.006003618 0.006103456 0 0.006003618 0.006103456 -0.003199994 0.006405532 0.007603466 0 0.006405532 0.007603466 -0.003199994 4.05582e-4 -0.007396459 0 4.05582e-4 -0.007396459 -0.003199994 8.07506e-4 -0.00889647 0 8.07506e-4 -0.00889647 -0.003199994 0.00190556 -0.009994566 0 0.00190556 -0.009994566 -0.003199994 0.00340557 -0.01039648 0 0.00340557 -0.01039648 -0.003199994 0.004905581 -0.009994566 0 0.004905581 -0.009994566 -0.003199994 0.006003618 -0.00889647 0 0.006003618 -0.00889647 -0.003199994 0.006405532 -0.007396459 0 0.006405532 -0.007396459 -0.003199994 -0.00959438 -0.007396459 0 -0.00959438 -0.007396459 -0.003199994 -0.009192466 -0.00889647 0 -0.009192466 -0.00889647 -0.003199994 -0.00809437 -0.009994566 0 -0.00809437 -0.009994566 -0.003199994 -0.006594359 -0.01039648 0 -0.006594359 -0.01039648 -0.003199994 -0.005094408 -0.009994566 0 -0.005094408 -0.009994566 -0.003199994 -0.003996312 -0.00889647 0 -0.003996312 -0.00889647 -0.003199994 -0.003594398 -0.007396459 0 -0.003594398 -0.007396459 0.05599999 -0.0244944 -0.01036071 0.05599999 -0.0244944 0.007967114 10e-4 -0.01604437 -0.03039646 0.01599997 -0.01834893 0.01560348 10e-4 -0.01604437 0.03060346 -0.004999995 -0.01604437 -0.01039648 -0.01499998 -0.01604437 -0.01039648 -0.01499998 -0.01604437 -0.02439647 -0.004999995 -0.01604437 -0.03039646 -0.004999995 -0.01604437 -0.02439647 -0.004999995 -0.01604437 0.03060346 -0.004999995 -0.01604437 0.01320344 -0.01199996 -0.01604437 0.01320344 -0.01199996 -0.01604437 0.01020348 -0.004999995 -0.01604437 0.01020348 10e-4 0.005305528 -0.03039646 0.03599995 -0.0115444 -0.01764643 0.07099997 -0.02299439 -0.004896461 0.07099997 -0.0244944 -0.004896461 0.07099997 -0.0244944 0.005103468 0.07099997 -0.02299439 0.005103468 0.03599995 -0.0115444 0.01178532 0.01599997 -0.001915812 0.01560348 10e-4 0.005305528 0.03060346 -0.004999995 0.01282936 -0.02439647 -0.01499998 0.01282936 -0.02439647 -0.01499998 -0.008059442 -0.01593643 -0.01499998 0.01285552 -0.02380937 -0.01499998 0.01285552 -0.01039648 -0.01499998 0.008270621 -0.01614648 -0.01499998 0.00735557 -0.01523137 -0.01499998 -0.003729343 -0.01593643 -0.01499998 -0.004644393 -0.01502138 -0.01499998 -0.005894362 -0.01468646 -0.01499998 -0.007144391 -0.01502138 -0.01499998 0.006105542 -0.01489645 -0.01499998 0.004855573 -0.01523137 -0.01499998 0.003940463 -0.01614648 -0.004999995 0.01285552 -0.01039648 -0.004999995 0.01285552 0.01020348 -0.004999995 0.0047912 0.00840348 -0.004999995 0.002605557 0.008989095 -0.004999995 0.00340557 0.009203433 -0.004999995 0.004205524 0.008989095 -0.004999995 -0.005794405 -0.00601083 -0.004999995 -0.006594359 -0.005796492 -0.004999995 0.0047912 -0.006596505 -0.004999995 0.004205524 -0.00601083 -0.004999995 0.00340557 -0.005796492 -0.004999995 0.002605557 -0.00601083 -0.004999995 -0.007394373 -0.00601083 -0.004999995 -0.007980048 -0.006596505 -0.004999995 0.002019882 0.00840348 -0.004999995 -0.00520873 -0.006596505 -0.004999995 0.002019882 -0.006596505 -0.01199996 0.01285552 0.01020348 -0.01199996 0.01285552 0.01320344 -0.004999995 0.01285552 0.01320344 -0.004999995 0.006268441 0.03060346 -0.004999995 0.008789241 0.03010207 -0.004999995 0.01092624 0.02867418 -0.004999995 0.01285552 0.02401638 -0.004999995 0.01235413 0.02653717 0 0.005786955 0.03060346 0 0.006268441 0.03060346 -0.004999995 0.006268441 -0.03039646 0 0.006268441 -0.03039646 0 0.005786955 -0.03039646 -0.004999995 0.01092624 -0.02846711 -0.004999995 0.008789241 -0.02989506 -0.004999995 0.01235413 -0.02633011 0 0.005786955 -0.02756786 0.03599995 -0.0115444 -0.01445358 0.03599995 -0.0115444 0.008731126 0.06641483 -0.02149438 0.00292468 0.06641483 -0.02149438 -0.00337392 0.01453107 -0.001208662 0.01282972 0 0.005786955 0.02736085 0 0.01285552 -0.02380937 0 0.01235413 -0.02633011 0 0.01092624 -0.02846711 0 0.008789241 -0.02989506 0 0.01285552 0.02401638 -0.005999982 -0.008059442 -0.01593643 -0.005999982 -0.007144391 -0.01502138 -0.005999982 -0.005894362 -0.01468646 -0.005999982 -0.004644393 -0.01502138 -0.005999982 -0.003729343 -0.01593643 -0.005999982 0.003940463 -0.01614648 -0.005999982 0.004855573 -0.01523137 -0.005999982 0.006105542 -0.01489645 -0.005999982 0.00735557 -0.01523137 -0.005999982 0.008270621 -0.01614648 -0.003199994 0.0047912 0.00840348 -0.003199994 0.004205524 0.008989095 -0.003199994 0.00340557 0.009203433 -0.003199994 0.002605557 0.008989095 -0.003199994 0.002019882 0.00840348 -0.003199994 0.0047912 -0.006596505 -0.003199994 0.004205524 -0.00601083 -0.003199994 0.00340557 -0.005796492 -0.003199994 0.002605557 -0.00601083 -0.003199994 0.002019882 -0.006596505 -0.003199994 -0.00520873 -0.006596505 -0.003199994 -0.005794405 -0.00601083 -0.003199994 -0.006594359 -0.005796492 -0.003199994 -0.007394373 -0.00601083 -0.003199994 -0.007980048 -0.006596505 0 0.008789241 0.03010207 0 0.01092624 0.02867418 0 0.01235413 0.02653717 0 0.00190556 -0.004798412 0 0.00340557 -0.004396498 0 -0.003996312 -0.005896508 0 0.004905581 0.01020151 0 0.00340557 0.01060348 0 -0.01285552 -0.02756786 0 -0.009192466 -0.005896508 0 -0.01285552 0.02736085 0 0.006003618 0.009103477 0 8.07506e-4 0.009103477 0 0.00190556 0.01020151 0 8.07506e-4 -0.005896508 0 0.006003618 -0.005896508 0 -0.00809437 -0.004798412 0 -0.006594359 -0.004396498 0 -0.005094408 -0.004798412 0 0.004905581 -0.004798412 0.05622911 -0.02149438 -0.007084429 0.05622911 -0.02149438 0.004869222 0.01453107 -0.01508808 0.01282972 -0.003199994 0.006003618 0.009103477 -0.003199994 0.004905581 0.01020151 -0.003199994 0.00340557 0.01060348 -0.003199994 0.00190556 0.01020151 -0.003199994 8.07506e-4 0.009103477 -0.003199994 0.006003618 -0.005896508 -0.003199994 0.004905581 -0.004798412 -0.003199994 0.00340557 -0.004396498 -0.003199994 0.00190556 -0.004798412 -0.003199994 8.07506e-4 -0.005896508 -0.003199994 -0.005094408 -0.004798412 -0.003199994 -0.006594359 -0.004396498 -0.003199994 -0.00809437 -0.004798412 -0.003199994 -0.009192466 -0.005896508 -0.003199994 -0.003996312 -0.005896508 -0.006799995 0.01285552 8.03491e-4 -0.006799995 0.009055554 8.03491e-4 -0.007149994 0.01285552 7.09709e-4 -0.007149994 0.009055554 7.09709e-4 -0.007406175 0.01285552 4.53491e-4 -0.007406175 0.009055554 4.53491e-4 -0.007499992 0.01285552 1.03491e-4 -0.007499992 0.009055554 1.03491e-4 -0.007406175 0.01285552 -2.46509e-4 -0.007406175 0.009055554 -2.46509e-4 -0.007149994 0.01285552 -5.02727e-4 -0.007149994 0.009055554 -5.02727e-4 -0.006799995 0.01285552 -5.96509e-4 -0.006799995 0.009055554 -5.96509e-4 -0.006799995 -0.01604437 -5.96509e-4 -0.006799995 -0.0122444 -5.96509e-4 -0.007149994 -0.01604437 -5.02727e-4 -0.007149994 -0.0122444 -5.02727e-4 -0.007406175 -0.01604437 -2.46509e-4 -0.007406175 -0.0122444 -2.46509e-4 -0.007499992 -0.01604437 1.03491e-4 -0.007499992 -0.0122444 1.03491e-4 -0.007406175 -0.01604437 4.53491e-4 -0.007406175 -0.0122444 4.53491e-4 -0.007149994 -0.01604437 7.09709e-4 -0.007149994 -0.0122444 7.09709e-4 -0.006799995 -0.01604437 8.03491e-4 -0.006799995 -0.0122444 8.03491e-4 -0.004999995 0.004056394 -0.006045043 -0.004999995 0.00340557 -0.005896508 -0.005270481 0.00340557 -0.006166994 -0.005270481 0.003939032 -0.006288766 -0.005270481 0.004009664 -0.006345093 -0.004999995 0.004578292 -0.006461262 -0.005270481 0.004366815 -0.006629884 -0.005270481 0.004445672 -0.006793618 -0.004999995 0.00486797 -0.007062673 -0.005270481 0.00460422 -0.007122874 -0.004999995 0.00486797 -0.007730245 -0.005270481 0.00460422 -0.007396459 -0.005270481 0.00460422 -0.007670044 -0.004999995 0.004578292 -0.008331716 -0.005270481 0.004445672 -0.00799936 -0.005270481 0.00340557 -0.008625984 -0.004999995 0.00340557 -0.00889647 -0.005270481 0.003939032 -0.008504211 -0.004999995 0.004056394 -0.008747935 -0.005270481 0.004009664 -0.008447885 -0.005270481 0.004366815 -0.008163034 -0.004999995 -0.005943536 -0.006045043 -0.004999995 -0.006594359 -0.005896508 -0.005270481 -0.006594359 -0.006166994 -0.005270481 -0.006060957 -0.006288766 -0.005270481 -0.005990326 -0.006345093 -0.004999995 -0.005421638 -0.006461262 -0.005270481 -0.005633115 -0.006629884 -0.005270481 -0.005554258 -0.006793618 -0.004999995 -0.005132019 -0.007062673 -0.005270481 -0.00539571 -0.007122874 -0.004999995 -0.005132019 -0.007730245 -0.005270481 -0.00539571 -0.007396459 -0.005270481 -0.00539571 -0.007670044 -0.004999995 -0.005421638 -0.008331716 -0.005270481 -0.005554258 -0.00799936 -0.005270481 -0.006594359 -0.008625984 -0.004999995 -0.006594359 -0.00889647 -0.005270481 -0.006060957 -0.008504211 -0.004999995 -0.005943536 -0.008747935 -0.005270481 -0.005990326 -0.008447885 -0.005270481 -0.005633115 -0.008163034 -0.004999995 0.004056394 0.008954942 -0.004999995 0.00340557 0.009103477 -0.005270481 0.00340557 0.008832991 -0.005270481 0.003939032 0.008711218 -0.005270481 0.004009664 0.008654892 -0.004999995 0.004578292 0.008538722 -0.005270481 0.004366815 0.008370041 -0.005270481 0.004445672 0.008206307 -0.004999995 0.00486797 0.007937252 -0.005270481 0.00460422 0.007877051 -0.004999995 0.00486797 0.00726968 -0.005270481 0.00460422 0.007603466 -0.005270481 0.00460422 0.007329881 -0.004999995 0.004578292 0.00666821 -0.005270481 0.004445672 0.007000625 -0.005270481 0.00340557 0.006373941 -0.004999995 0.00340557 0.006103456 -0.005270481 0.003939032 0.006495714 -0.004999995 0.004056394 0.00625199 -0.005270481 0.004009664 0.00655204 -0.005270481 0.004366815 0.006836891 -0.004999995 -0.005943536 0.008954942 -0.004999995 -0.006594359 0.009103477 -0.005270481 -0.006594359 0.008832991 -0.005270481 -0.006060957 0.008711218 -0.005270481 -0.005990326 0.008654892 -0.004999995 -0.005421638 0.008538722 -0.005270481 -0.005633115 0.008370041 -0.005270481 -0.005554258 0.008206307 -0.004999995 -0.005132019 0.007937252 -0.005270481 -0.00539571 0.007877051 -0.004999995 -0.005132019 0.00726968 -0.005270481 -0.00539571 0.007603466 -0.005270481 -0.00539571 0.007329881 -0.004999995 -0.005421638 0.00666821 -0.005270481 -0.005554258 0.007000625 -0.005270481 -0.006594359 0.006373941 -0.004999995 -0.006594359 0.006103456 -0.005270481 -0.006060957 0.006495714 -0.004999995 -0.005943536 0.00625199 -0.005270481 -0.005990326 0.00655204 -0.005270481 -0.005633115 0.006836891 -0.007999956 0.00340557 -0.008625984 -0.007999956 0.004020273 -0.008461236 -0.007999956 0.004470348 -0.008011221 -0.007999956 0.004635035 -0.007396459 -0.007999956 0.004470348 -0.006781756 -0.007999956 0.004020273 -0.006331682 -0.007999956 0.00340557 -0.006166994 -0.007999956 -0.006594359 -0.008625984 -0.007999956 -0.005979657 -0.008461236 -0.007999956 -0.005529582 -0.008011221 -0.007999956 -0.005364894 -0.007396459 -0.007999956 -0.005529582 -0.006781756 -0.007999956 -0.005979657 -0.006331682 -0.007999956 -0.006594359 -0.006166994 -0.007999956 0.00340557 0.006373941 -0.007999956 0.004020273 0.006538689 -0.007999956 0.004470348 0.006988704 -0.007999956 0.004635035 0.007603466 -0.007999956 0.004470348 0.008218228 -0.007999956 0.004020273 0.008668243 -0.007999956 0.00340557 0.008832991 -0.007999956 -0.006594359 0.006373941 -0.007999956 -0.005979657 0.006538689 -0.007999956 -0.005529582 0.006988704 -0.007999956 -0.005364894 0.007603466 -0.007999956 -0.005529582 0.008218228 -0.007999956 -0.005979657 0.008668243 -0.007999956 -0.006594359 0.008832991 -0.008499979 -0.01604437 0.004303455 -0.008499979 0.01285552 0.004303455 -0.008499979 -0.01604437 -0.004096508 -0.008499979 0.01285552 -0.004096508 -0.01299995 0.01285552 0.009103477 -0.01293301 0.01285552 0.009353458 -0.01274996 0.01285552 0.009536504 -0.01134198 0.01285552 0.004603445 -0.01299995 0.01285552 0.004603445 -0.005999982 0.01285552 0.00960344 -0.01249998 0.01285552 0.00960344 -0.01134198 0.01285552 -0.004396498 -0.01125091 0.01285552 -0.004040241 -0.009857952 0.01285552 -0.004396498 -0.01099997 0.01285552 -0.003771483 -0.005499958 0.01285552 -0.00889647 -0.00879997 0.01285552 -0.004396498 -0.005999982 0.01285552 -0.009396493 -0.01249998 0.01285552 -0.009396493 -0.01274996 0.01285552 -0.009329497 -0.009949028 0.01285552 -0.004040241 -0.01019996 0.01285552 -0.003771483 -0.01019996 0.01285552 -0.003346502 -0.01099997 0.01285552 -0.003346502 -0.01299995 0.01285552 -0.004396498 -0.01299995 0.01285552 -0.00889647 -0.01293301 0.01285552 -0.009146451 -0.01125091 0.01285552 0.004247248 -0.01099997 0.01285552 0.00397849 -0.01019996 0.01285552 0.00397849 -0.01099997 0.01285552 0.00355345 -0.01019996 0.01285552 0.00355345 -0.00879997 0.01285552 0.004603445 -0.009857952 0.01285552 0.004603445 -0.009949028 0.01285552 0.004247248 -0.01029998 0.01285552 -0.003173291 -0.01022678 0.01285552 -0.003246486 -0.01039999 0.01285552 -0.003146469 -0.0108 0.01285552 -0.003146469 -0.01089996 0.01285552 -0.003173291 -0.01097315 0.01285552 -0.003246486 -0.01089996 0.01285552 0.003380239 -0.01097315 0.01285552 0.003453433 -0.0108 0.01285552 0.003353476 -0.01039999 0.01285552 0.003353476 -0.01029998 0.01285552 0.003380239 -0.01022678 0.01285552 0.003453433 -0.006449997 0.01285552 -5.02727e-4 -0.006193757 0.01285552 -2.46509e-4 -0.006099998 0.01285552 1.03491e-4 -0.005499958 0.01285552 0.009103477 -0.006449997 0.01285552 7.09709e-4 -0.006193757 0.01285552 4.53491e-4 -0.00879997 -0.01604437 -0.004396498 -0.01134198 -0.01604437 -0.004396498 -0.01299995 -0.01604437 -0.004396498 -0.01299995 -0.01604437 -0.00889647 -0.01134198 -0.01604437 0.004603445 -0.01125091 -0.01604437 0.004247248 -0.009857952 -0.01604437 0.004603445 -0.01099997 -0.01604437 0.00397849 -0.009857952 -0.01604437 -0.004396498 -0.009949028 -0.01604437 -0.004040241 -0.01019996 -0.01604437 -0.003771483 -0.009949028 -0.01604437 0.004247248 -0.01019996 -0.01604437 0.00397849 -0.01019996 -0.01604437 0.00355345 -0.01099997 -0.01604437 0.00355345 -0.01299995 -0.01604437 0.004603445 -0.01299995 -0.01604437 0.009103477 -0.01293301 -0.01604437 0.009353458 -0.01274996 -0.01604437 0.009536504 -0.01293301 -0.01604437 -0.009146451 -0.01274996 -0.01604437 -0.009329497 -0.01249998 -0.01604437 -0.009396493 -0.01125091 -0.01604437 -0.004040241 -0.01099997 -0.01604437 -0.003771483 -0.01099997 -0.01604437 -0.003346502 -0.01019996 -0.01604437 -0.003346502 -0.01029998 -0.01604437 0.003380239 -0.01022678 -0.01604437 0.003453433 -0.01039999 -0.01604437 0.003353476 -0.0108 -0.01604437 0.003353476 -0.01089996 -0.01604437 0.003380239 -0.01097315 -0.01604437 0.003453433 -0.005499958 -0.01604437 0.009103477 -0.006449997 -0.01604437 7.09709e-4 -0.005999982 -0.01604437 -0.009396493 -0.006449997 -0.01604437 -5.02727e-4 -0.005499958 -0.01604437 -0.00889647 -0.006193757 -0.01604437 4.53491e-4 -0.006099998 -0.01604437 1.03491e-4 -0.006193757 -0.01604437 -2.46509e-4 -0.01089996 -0.01604437 -0.003173291 -0.01097315 -0.01604437 -0.003246486 -0.0108 -0.01604437 -0.003146469 -0.01039999 -0.01604437 -0.003146469 -0.01029998 -0.01604437 -0.003173291 -0.01022678 -0.01604437 -0.003246486 -0.00879997 -0.01604437 0.004603445 -0.005999982 -0.01604437 0.00960344 -0.01249998 -0.01604437 0.00960344 -0.01299995 0.007855534 -0.00889647 -0.01299995 -0.01104438 -0.00889647 -0.01299995 -0.01104438 -0.009396493 -0.01299995 0.007855534 -0.009396493 -0.01299995 0.007855534 0.009103477 -0.01299995 -0.01104438 0.009103477 -0.01299995 -0.01104438 0.00960344 -0.01299995 0.007855534 0.00960344 -0.005999982 0.007855534 0.00960344 -0.01249998 0.007855534 0.00960344 -0.005499958 0.007855534 -0.00889647 -0.005499958 0.007855534 0.009103477 -0.01249998 0.007855534 -0.009396493 -0.005999982 0.007855534 -0.009396493 -0.006449997 0.009055554 -5.02727e-4 -0.006193757 0.009055554 -2.46509e-4 -0.006099998 0.009055554 1.03491e-4 -0.006193757 0.009055554 4.53491e-4 -0.006449997 0.009055554 7.09709e-4 -0.01249998 -0.01104438 0.00960344 -0.005999982 -0.01104438 0.00960344 -0.005499958 -0.01104438 0.009103477 -0.005499958 -0.01104438 -0.00889647 -0.005999982 -0.01104438 -0.009396493 -0.01249998 -0.01104438 -0.009396493 -0.006449997 -0.0122444 7.09709e-4 -0.006193757 -0.0122444 4.53491e-4 -0.006099998 -0.0122444 1.03491e-4 -0.006193757 -0.0122444 -2.46509e-4 -0.006449997 -0.0122444 -5.02727e-4 -0.01293301 0.007855534 -0.009146451 -0.01274996 0.007855534 -0.009329497 -0.01249998 0.007855534 -0.009896457 -0.01249998 -0.01104438 -0.009896457 -0.01274996 -0.01104438 -0.009329497 -0.01293301 -0.01104438 -0.009146451 -0.01249998 0.007855534 0.01010346 -0.01249998 -0.01104438 0.01010346 -0.01274996 0.007855534 0.009536504 -0.01293301 0.007855534 0.009353458 -0.01293301 -0.01104438 0.009353458 -0.01274996 -0.01104438 0.009536504 -0.005299985 0.007855534 -0.004396498 -0.004999995 0.007855534 -0.004696488 -0.004999995 0.007855534 -0.009396493 -0.005399942 0.007855534 -0.004396498 -0.005399942 0.007855534 0.004603445 -0.005499958 0.007855534 0.01010346 -0.004999995 0.007855534 0.00960344 -0.004999995 0.007855534 0.004903435 -0.005299985 0.007855534 0.004603445 -0.005499958 0.007855534 -0.009896457 -0.005299985 -0.01104438 0.004603445 -0.004999995 -0.01104438 0.004903435 -0.004999995 -0.01104438 0.00960344 -0.005399942 -0.01104438 0.004603445 -0.005399942 -0.01104438 -0.004396498 -0.005499958 -0.01104438 -0.009896457 -0.004999995 -0.01104438 -0.009396493 -0.004999995 -0.01104438 -0.004696488 -0.005299985 -0.01104438 -0.004396498 -0.005499958 -0.01104438 0.01010346 -0.004999995 0.002754747 -0.008747935 -0.004999995 -0.00776714 -0.006461262 -0.004999995 -0.007245242 -0.006045043 -0.004999995 -0.007245242 -0.008747935 -0.004999995 0.002754747 -0.006045043 -0.004999995 -0.00776714 -0.008331716 -0.004999995 -0.008056759 -0.007730245 -0.004999995 -0.008056759 -0.007062673 -0.004999995 0.002232789 -0.008331716 -0.004999995 0.001943171 -0.007730245 -0.004999995 0.001943171 -0.007062673 -0.004999995 0.002232789 -0.006461262 -0.004999995 0.002754747 0.008954942 -0.004999995 -0.007245242 0.00625199 -0.004999995 -0.00776714 0.00666821 -0.004999995 -0.008056759 0.00726968 -0.004999995 -0.008056759 0.007937252 -0.004999995 -0.00776714 0.008538722 -0.004999995 0.002754747 0.00625199 -0.004999995 0.002232789 0.00666821 -0.004999995 0.001943171 0.00726968 -0.004999995 -0.007245242 0.008954942 -0.004999995 0.002232789 0.008538722 -0.004999995 0.001943171 0.007937252 -0.005270481 0.002872109 -0.008504211 -0.005270481 0.002801477 -0.008447885 -0.005270481 0.002444267 -0.008163034 -0.005270481 0.002365469 -0.00799936 -0.005270481 0.002206861 -0.007670044 -0.005270481 0.002206861 -0.007396459 -0.005270481 0.002206861 -0.007122874 -0.005270481 0.002365469 -0.006793618 -0.005270481 0.002872109 -0.006288766 -0.005270481 0.002801477 -0.006345093 -0.005270481 0.002444267 -0.006629884 -0.005270481 -0.007127821 -0.008504211 -0.005270481 -0.007198452 -0.008447885 -0.005270481 -0.007555663 -0.008163034 -0.005270481 -0.00763452 -0.00799936 -0.005270481 -0.007793068 -0.007670044 -0.005270481 -0.007793068 -0.007396459 -0.005270481 -0.007793068 -0.007122874 -0.005270481 -0.00763452 -0.006793618 -0.005270481 -0.007127821 -0.006288766 -0.005270481 -0.007198452 -0.006345093 -0.005270481 -0.007555663 -0.006629884 -0.005270481 0.002872109 0.006495714 -0.005270481 0.002801477 0.00655204 -0.005270481 0.002444267 0.006836891 -0.005270481 0.002365469 0.007000625 -0.005270481 0.002206861 0.007329881 -0.005270481 0.002206861 0.007603466 -0.005270481 0.002206861 0.007877051 -0.005270481 0.002365469 0.008206307 -0.005270481 0.002872109 0.008711218 -0.005270481 0.002801477 0.008654892 -0.005270481 0.002444267 0.008370041 -0.005270481 -0.007127821 0.006495714 -0.005270481 -0.007198452 0.00655204 -0.005270481 -0.007555663 0.006836891 -0.005270481 -0.00763452 0.007000625 -0.005270481 -0.007793068 0.007329881 -0.005270481 -0.007793068 0.007603466 -0.005270481 -0.007793068 0.007877051 -0.005270481 -0.00763452 0.008206307 -0.005270481 -0.007127821 0.008711218 -0.005270481 -0.007198452 0.008654892 -0.005270481 -0.007555663 0.008370041 -0.007999956 0.002790808 -0.006331682 -0.007999956 0.002340793 -0.006781756 -0.007999956 0.002176046 -0.007396459 -0.007999956 0.002340793 -0.008011221 -0.007999956 0.002790808 -0.008461236 -0.007999956 -0.007209122 -0.006331682 -0.007999956 -0.007659196 -0.006781756 -0.007999956 -0.007823884 -0.007396459 -0.007999956 -0.007659196 -0.008011221 -0.007999956 -0.007209122 -0.008461236 -0.007999956 0.002790808 0.008668243 -0.007999956 0.002340793 0.008218228 -0.007999956 0.002176046 0.007603466 -0.007999956 0.002340793 0.006988704 -0.007999956 0.002790808 0.006538689 -0.007999956 -0.007209122 0.008668243 -0.007999956 -0.007659196 0.008218228 -0.007999956 -0.007823884 0.007603466 -0.007999956 -0.007659196 0.006988704 -0.007999956 -0.007209122 0.006538689</float_array>
|
| 57 |
-
<technique_common>
|
| 58 |
-
<accessor source="#link7-mesh-positions-array" count="650" stride="3">
|
| 59 |
-
<param name="X" type="float"/>
|
| 60 |
-
<param name="Y" type="float"/>
|
| 61 |
-
<param name="Z" type="float"/>
|
| 62 |
-
</accessor>
|
| 63 |
-
</technique_common>
|
| 64 |
-
</source>
|
| 65 |
-
<source id="link7-mesh-normals">
|
| 66 |
-
<float_array id="link7-mesh-normals-array" count="1941">-0.6532019 -0.7571839 4.4525e-7 -0.7702567 -0.637734 -3.75792e-7 -0.6532273 -0.6557208 0.3785821 -0.770256 -0.5522947 0.3188675 -0.6532146 -0.3785858 0.6557313 -0.7702636 -0.3188629 0.5522867 -0.6532242 3.49498e-7 0.7571647 -0.770266 0 0.6377227 -0.6532273 0.3785811 0.6557213 -0.770256 0.3188672 0.5522947 -0.6532272 0.6557213 0.3785815 -0.7702637 0.5522861 0.3188633 -0.6532206 0.7571678 1.9334e-7 -0.7702611 0.6377288 -1.56579e-7 -0.6532299 -0.7571597 -7.01781e-7 -0.7702724 -0.6377152 3.69518e-7 -0.6532272 -0.6557219 0.3785804 -0.7702656 -0.5522847 0.3188615 -0.6532267 -0.3785806 0.6557222 -0.7702643 -0.3188619 0.5522863 -0.6532154 5.17307e-7 0.7571721 -0.7702684 -1.24699e-6 0.6377199 -0.6532244 0.3785821 0.6557236 -0.7702544 0.3188677 0.5522965 -0.653237 0.6557146 0.3785762 -0.7702628 0.5522876 0.318863 -0.6532298 0.7571597 -1.78466e-7 -0.7702534 0.6377382 0 -0.7702647 0.6377243 3.54342e-6 0.7702735 0.6377137 -3.54493e-6 -0.7702607 0.552288 0.3188676 0.7702738 0.5522779 0.3188534 -0.7702634 0.3188596 0.5522887 0.7702737 0.3188595 0.5522744 -0.7702682 -3.2836e-6 0.6377202 0.7702736 3.3195e-6 0.6377136 -0.7702664 -0.318864 0.552282 0.7702736 -0.318854 0.5522778 -0.7702696 -0.5522821 0.3188561 0.7702736 -0.5522745 0.3188598 -0.7702719 -0.6377158 -3.74536e-6 0.7702738 -0.6377134 3.73282e-6 -0.770268 0.6377205 3.58881e-6 0.7702735 0.6377137 -3.48856e-6 -0.770267 0.5522813 0.3188638 0.7702739 0.5522777 0.3188536 -0.7702745 0.3188529 0.5522773 0.7702738 0.3188592 0.5522747 -0.7702658 -3.57323e-6 0.637723 0.7702735 3.26847e-6 0.6377137 -0.7702704 -0.3188613 0.5522781 0.7702736 -0.3188536 0.5522781 -0.7702695 -0.5522822 0.3188564 0.7702736 -0.5522742 0.31886 -0.7702705 -0.6377174 -3.71405e-6 0.7702737 -0.6377135 3.77666e-6 -0.7702709 0.637717 3.49641e-6 0.7702741 0.6377131 -3.4134e-6 -0.7702691 0.5522788 0.3188629 0.7702733 0.5522779 0.3188543 -0.7702706 0.3188555 0.5522812 0.7702738 0.3188595 0.5522744 -0.7702631 -3.64032e-6 0.6377263 0.7702736 3.21837e-6 0.6377136 -0.7702671 -0.3188649 0.5522806 0.7702735 -0.3188536 0.5522783 -0.770265 -0.5522869 0.3188593 0.7702739 -0.5522739 0.3188599 -0.7702778 -0.6377085 -3.45095e-6 0.7702735 -0.6377138 3.50735e-6 0.6532331 0.757157 3.53776e-6 0.7702741 0.637713 -3.01881e-6 0.6532332 0.6557152 0.3785816 0.7702621 0.5522897 0.3188613 0.6532332 0.3785755 0.6557188 0.770264 0.3188653 0.5522847 0.6532331 -3.59287e-6 0.7571569 0.7702679 2.93117e-6 0.6377207 0.6532334 -0.3785815 0.6557152 0.7702571 -0.3188642 0.552295 0.6532331 -0.6557188 0.3785755 0.7702677 -0.5522809 0.3188629 0.6532333 -0.7571569 -3.40577e-6 0.7702671 -0.6377214 2.82469e-6 0.6532331 0.7571569 3.73296e-6 0.7702696 0.6377184 -2.86852e-6 0.6532332 0.6557152 0.3785817 0.7702602 0.5522915 0.3188624 0.6532333 0.3785756 0.6557186 0.7702681 0.318863 0.5522803 0.653233 -3.62516e-6 0.757157 0.7702603 2.92494e-6 0.6377296 0.6532334 -0.3785815 0.6557151 0.7702712 -0.318856 0.5522802 0.6532332 -0.6557188 0.3785756 0.7702603 -0.5522887 0.3188675 0.6532332 -0.7571569 -3.2273e-6 0.7702709 -0.637717 2.97499e-6 0.6532332 0.7571569 3.53219e-6 0.7702656 0.6377232 -2.71823e-6 0.6532331 0.6557154 0.3785813 0.7702692 0.5522823 0.3188569 0.6532332 0.3785756 0.6557186 0.7702686 0.3188626 0.5522799 0.653233 -3.67721e-6 0.757157 0.7702705 2.92506e-6 0.6377174 0.6532333 -0.3785818 0.6557149 0.7702711 -0.318856 0.55228 0.6532332 -0.6557188 0.3785755 0.7702562 -0.5522928 0.3188699 0.6532332 -0.7571568 -3.32397e-6 0.7702695 -0.6377186 3.03763e-6 0.1724098 -0.7306505 -0.6606246 0.06847959 -0.7261425 0.6841255 0.09438776 -0.6553046 -0.7494444 0.1696527 -0.7929414 0.5852025 0.282363 -0.6225896 0.729831 -0.301485 -0.9045427 0.3015119 -0.5773424 -0.5773695 0.577339 -0.5773131 -0.5773762 -0.5773615 -0.5773566 -0.5773566 -0.5773376 -0.3015016 -0.9045416 -0.3014986 -0.5773553 -0.5773574 0.5773383 -0.3015151 -0.9045315 0.3015151 -0.5773615 -0.5773553 0.5773341 -0.5773663 -0.5773395 -0.5773451 -0.3015023 -0.9045368 -0.3015123 0.3742297 0.5888233 -0.7164072 0.4831819 0.5986312 -0.6388866 0.7433727 0.4800144 -0.4658147 0.6566197 -0.5979989 -0.4596171 0.6233121 -0.5879339 0.5155732 0.7044101 0.4748378 0.5275751 0.3846412 0.6172862 0.686301 0.6067649 0.6406338 0.4705579 0.4691469 0.5292608 0.7069543 -0.2448679 0.8833227 -0.3997259 -0.5797416 0.5631681 -0.5888475 -0.7702647 0.5522856 -0.3188623 -0.7021089 0.7118924 -0.01588672 -0.577286 0.5773977 0.5773672 -0.7702642 -0.5522862 -0.3188624 -0.7702658 -0.3188615 -0.5522845 -0.7702564 -0.5522941 -0.3188676 -0.7702609 -0.3188644 -0.5522897 -0.7702622 2.81841e-7 -0.6377274 -0.7702555 0.3188682 -0.552295 -0.7702693 0 -0.6377189 -0.7702634 0.3188634 -0.5522866 -0.7702516 0.5522994 -0.3188699 -0.3014931 0.9045446 0.3014981 -0.3014909 0.9045422 -0.3015077 -0.7702716 -0.5522766 -0.3188611 -0.7702751 0.3188587 -0.552273 -0.7702643 3.34457e-6 -0.6377248 -0.7702727 -0.3188542 -0.5522791 -0.7702698 -0.3188558 -0.5522821 -0.7702625 3.28195e-6 -0.637727 -0.7702775 -0.5522703 -0.3188577 -0.7702589 -0.3188633 -0.5522929 -0.7702686 3.05643e-6 -0.6377196 -0.7702625 0.3188666 -0.5522859 -0.7702718 0.3188611 -0.5522763 -0.7702682 0.5522834 -0.3188576 -0.7702674 0.5522845 -0.3188573 -0.7702609 -0.5522876 -0.3188679 -0.7702648 0.5522872 -0.3188591 -0.5773544 0.5773482 -0.5773482 -0.5773592 0.5773324 0.5773592 -0.3015133 0.9045368 0.3015012 -0.6856927 0.07134431 0.7243863 -0.6657285 0.2855539 0.6893944 -0.6657069 0.527651 0.5276539 -0.685682 0.7243963 0.0713467 -0.6657284 0.6893928 0.285558 0.4481573 0.2816327 0.8484327 0.6856928 0.07134574 0.7243861 -0.6856808 0.0713464 -0.7243974 0.6857073 0.07134342 -0.7243726 0.4481568 0.2816331 -0.8484329 -0.6657283 0.5276404 -0.5276376 -0.665716 0.285562 -0.689403 -0.6672409 0.6836214 -0.2957218 0.9311041 0.308202 0.1950818 0.004043579 0.6914626 0.722401 0.1228544 0.6679759 -0.733972 0.2170882 0.9749183 -0.04906457 0.2025738 0.9782298 0.04506003 -0.1280214 0.6821652 -0.7199036 0.9062538 0.3893024 -0.1647656 0.6866793 0.7234976 -0.07087206 0.6657232 0.6893979 -0.2855578 0.6657253 0.5276395 -0.5276424 0.6657345 0.2855522 -0.6893894 0.68571 0.7243697 0.07134628 -0.6532273 0.6557214 -0.378581 -0.6532272 0.3785807 -0.6557216 -0.6532111 0 -0.7571758 -0.6532272 -0.378581 -0.6557216 -0.6532147 -0.6557311 -0.3785861 -0.6532145 0.6557311 -0.3785864 -0.6532273 0.3785806 -0.6557218 -0.6531761 -3.36988e-7 -0.7572061 -0.6532274 -0.378581 -0.6557214 -0.6532143 -0.6557312 -0.3785865 0.7702736 -0.5522779 -0.3188536 0.7702737 -0.3188595 -0.5522745 0.7702735 -3.59863e-6 -0.6377137 0.7702739 0.3188532 -0.5522779 0.7702738 0.5522744 -0.3188596 0.7702737 -0.5522777 -0.3188537 0.7702733 -0.3188599 -0.5522747 0.770274 -3.46889e-6 -0.6377131 0.7702735 0.318854 -0.5522781 0.7702739 0.5522742 -0.3188597 0.7702739 -0.5522775 -0.3188538 0.7702732 -0.3188599 -0.5522748 0.770274 -3.49395e-6 -0.637713 0.7702735 0.3188543 -0.5522779 0.7702735 0.5522744 -0.3188603 0.6657284 0.2855579 0.6893928 0.6657285 0.5276403 0.5276375 0.6657344 0.6893894 0.2855522 0.7702711 0.3188557 -0.5522805 0.7702589 -3.0878e-6 -0.6377315 0.7702592 -0.5522928 -0.3188629 0.7702713 -0.3188607 -0.5522772 0.7702662 -3.08775e-6 -0.6377225 0.5021143 0.5197073 0.6912205 0.7702729 0.5522757 -0.3188596 0.3339135 0.518541 -0.7871577 0.7702602 -0.5522917 -0.3188624 0.7702671 0.5522815 -0.3188633 0.770264 0.3188601 -0.5522878 0.7702616 0.5522873 -0.3188667 0.770274 -0.5522773 -0.3188542 0.7702692 0.3188568 -0.5522823 0.7702634 -3.12535e-6 -0.6377259 0.770264 -0.3188652 -0.5522847 0.7702616 -0.3188665 -0.5522874 -0.1724153 0.7306363 0.6606388 -0.0684846 0.7261297 -0.6841386 -0.1696448 0.7929456 -0.5851991 0.6532332 -0.6557154 -0.3785814 0.6532332 -0.3785754 -0.6557189 0.6532332 3.4727e-6 -0.7571569 0.6532332 0.3785817 -0.6557153 0.6532332 0.6557189 -0.3785752 0.6532331 -0.6557155 -0.3785814 0.6532333 -0.3785752 -0.6557189 0.6532332 3.45782e-6 -0.7571569 0.6532332 0.3785815 -0.6557154 0.6532332 0.6557189 -0.3785754 0.6532332 -0.3785753 -0.6557189 0.6532332 3.43552e-6 -0.7571569 0.6532332 0.3785813 -0.6557155 0.6532331 0.6557189 -0.3785753 0.6532331 -0.6557154 -0.3785814 -1.09292e-6 0.7702597 -0.6377305 1.07823e-6 0.6532246 -0.7571642 0.3188643 0.77026 -0.5522908 0.3785824 0.6532274 -0.6557205 0.5522926 0.7702576 -0.318867 0.6557337 0.6532118 -0.3785864 0.63773 0.77026 -1.02664e-6 0.7571645 0.6532242 1.26413e-6 0.5522937 0.7702575 0.3188654 0.6557515 0.6531862 0.3786 0.3188652 0.7702615 0.5522882 0.3785866 0.6532114 0.6557341 1.0021e-6 0.77026 0.63773 -1.39056e-6 0.6532288 0.7571607 -1.11366e-6 -0.7702597 0.6377304 1.05592e-6 -0.6532237 0.757165 0.3188642 -0.7702598 0.5522911 0.3785824 -0.6532273 0.6557205 0.5522927 -0.7702575 0.3188673 0.6557337 -0.6532118 0.3785865 0.63773 -0.77026 1.04594e-6 0.7571645 -0.6532242 -1.22695e-6 0.5522936 -0.7702576 -0.3188655 0.6557515 -0.6531862 -0.3786 0.3188652 -0.7702612 -0.5522886 0.3785864 -0.653211 -0.6557346 9.77047e-7 -0.7702599 -0.6377301 -1.42773e-6 -0.6532243 -0.7571645 0.9425058 -0.144996 -0.3010962 0.9425035 6.3495e-7 -0.3341967 0.403296 3.7348e-7 -0.9150696 0.4021068 -0.3963279 -0.8253693 0.3739066 -0.5782647 -0.7251233 0.9425043 -0.2612818 -0.2083687 0.4001371 -0.7161166 -0.5718982 0.3721637 -0.8362498 -0.4027166 0.9425029 -0.325819 -0.07436764 0.3991511 -0.893849 -0.2042362 0.9425061 -0.3258101 0.07436501 0.3715734 -0.9284037 0 0.399151 -0.8938492 0.2042356 0.9425049 -0.2612804 0.2083681 0.3721602 -0.8362506 0.4027179 0.403294 -8.01736e-7 0.9150705 0.942502 -6.21069e-7 0.3342008 0.4021061 -0.396328 0.8253695 0.9425082 -0.1449933 0.3010903 0.3739066 -0.5782649 0.7251232 0.4001371 -0.7161161 0.5718986 0.9425079 -0.1449937 -0.3010909 0.9425032 6.34951e-7 -0.3341972 0.403296 5.97567e-7 -0.9150697 0.402108 -0.3963328 -0.8253663 0.373907 -0.5782689 -0.7251198 0.9425023 -0.2612863 -0.2083719 0.4001379 -0.7161162 -0.571898 0.3721636 -0.8362496 -0.4027172 0.9425035 -0.325817 -0.07436746 0.3991501 -0.8938491 -0.2042377 0.9425053 -0.3258121 0.07436555 0.3715729 -0.9284039 0 0.3991501 -0.8938494 0.2042362 0.9425027 -0.2612851 0.2083719 0.3721612 -0.8362499 0.4027186 0.403294 -7.2206e-7 0.9150705 0.9425017 -6.53891e-7 0.3342015 0.4021072 -0.396333 0.8253666 0.9425085 -0.1449929 0.3010893 0.3739072 -0.578269 0.7251196 0.4001383 -0.7161155 0.5718986 0.9425076 -0.144994 -0.301092 0.9425022 5.89511e-7 -0.3342 0.403295 4.97973e-7 -0.91507 0.4021072 -0.3963274 -0.8253692 0.3739068 -0.5782647 -0.7251232 0.9425047 -0.2612805 -0.2083682 0.4001376 -0.716116 -0.5718986 0.3721642 -0.8362495 -0.4027168 0.9425038 -0.3258162 -0.07436698 0.3991515 -0.893849 -0.2042357 0.9425044 -0.3258149 0.07436609 0.3715751 -0.928403 0 0.3991505 -0.8938494 0.2042357 0.9425044 -0.2612815 0.2083687 0.37216 -0.8362508 0.4027178 0.4032964 -6.47365e-7 0.9150694 0.9425035 -7.82641e-7 0.3341963 0.4021064 -0.3963285 0.8253692 0.9425064 -0.144996 0.3010947 0.3739064 -0.578265 0.7251232 0.4001373 -0.7161164 0.5718982 0.9425066 -0.1449952 -0.3010943 0.9425022 5.73101e-7 -0.3342002 0.4032953 6.17486e-7 -0.91507 0.4021084 -0.3963323 -0.8253663 0.3739072 -0.5782689 -0.7251197 0.9425036 -0.2612832 -0.2083699 0.4001386 -0.7161155 -0.5718983 0.3721644 -0.8362491 -0.4027172 0.9425035 -0.3258171 -0.0743674 0.3991507 -0.893849 -0.2042371 0.9425054 -0.3258119 0.07436543 0.3715739 -0.9284035 0 0.3991505 -0.8938493 0.2042363 0.9425024 -0.2612859 0.2083722 0.3721608 -0.8362501 0.4027185 0.4032964 -5.5773e-7 0.9150695 0.9425033 -8.0789e-7 0.3341971 0.4021076 -0.3963335 0.8253662 0.9425084 -0.1449937 0.3010894 0.3739068 -0.5782691 0.7251197 0.4001377 -0.7161162 0.5718981 0.6557127 -2.07797e-7 0.7550105 0.6565621 -0.3761221 0.6538031 0.6578346 -0.6519688 0.3770813 0.658243 -0.7528055 0 0.6578126 -0.6519852 -0.3770914 0.6565697 -0.3761196 -0.6537969 0.6557123 0 -0.755011 0.655693 -1.9256e-7 0.7550276 0.6565722 -0.3761172 0.6537957 0.6578226 -0.6519771 0.3770882 0.6582549 -0.7527951 0 0.6578201 -0.6519787 -0.3770896 0.6565722 -0.3761178 -0.6537954 0.6556925 -2.35964e-7 -0.7550281 0.6557123 0 0.7550109 0.656562 -0.376123 0.6538026 0.6578344 -0.6519688 0.3770818 0.6578128 -0.6519854 -0.3770909 0.6565696 -0.3761194 -0.6537972 0.6556872 2.32253e-7 -0.7550327 0.6556925 0 0.7550281 0.6565724 -0.3761172 0.6537955 0.6578225 -0.651977 0.3770886 0.6578203 -0.6519787 -0.3770892 0.6565722 -0.3761172 -0.6537957 0.6556929 -1.62935e-7 -0.7550277 -0.5491439 -0.8041773 -0.2274644 -0.5491381 0.8041806 -0.2274665 -0.549138 -0.8041807 0.2274663 -0.5491437 0.8041774 0.2274642 -0.7279864 0.6788598 0.09584039 -0.6557257 0.6532254 0.3785768 -0.3785871 0.6532112 0.6557339 -0.2980753 0.8739416 -0.3838974 -0.5773625 0.5773465 -0.577342 0.2971153 0.63024 0.7173005 -0.09584063 0.6788623 0.7279839 -0.2980716 0.8739438 0.3838955 -0.6625872 0.655355 0.362613 0.2980778 0.8739395 0.3839001 -0.5585642 0.7996919 0.2202248 0.7173008 0.63024 -0.2971146 -0.2274587 0.804182 0.5491392 0.2971078 0.6302495 -0.7172953 -0.09584039 0.6788679 -0.7279787 -0.3785852 0.6532169 -0.6557294 0.662585 0.6553592 0.3626093 0.5585671 0.7996898 0.2202256 0.7279835 0.6788635 0.0958355 -0.7279809 0.678866 0.09583783 -0.5773707 0.57734 0.5773401 -0.7279866 0.6788598 -0.09583741 -0.6557208 0.6532295 -0.3785781 -0.662585 0.6553592 -0.3626094 -0.5585671 0.7996897 -0.2202256 0.5585644 0.7996919 -0.2202246 -0.7279838 0.6788625 -0.09584021 0.7279806 0.6788669 -0.09583389 -0.2274584 0.8041891 -0.5491291 0.2980716 0.8739438 -0.3838953 0.6625871 0.6553547 -0.3626137 0.3785819 0.6532258 0.6557224 0.6557364 0.6532139 0.3785782 0.09584271 0.6788553 0.7279902 -0.0958392 0.6788762 0.7279711 -0.3785861 0.653213 0.6557327 -0.6557237 0.6532276 0.3785765 -0.3785843 0.6532253 -0.6557216 -0.6557332 0.6532137 -0.3785842 -0.09584265 0.6788549 -0.7279906 0.0958392 0.6788762 -0.7279711 0.378584 0.6532139 -0.6557331 0.6557269 0.653228 -0.3785703 -0.3188642 0.7702599 0.5522909 -0.5522834 0.7702662 0.318862 -0.6377354 0.7702557 1.04595e-6 0.7172805 0.6302628 0.2971153 -0.3188683 0.7702561 -0.552294 -0.5522844 0.7702662 -0.3188604 -0.2274603 -0.8041856 0.5491333 -0.2980754 -0.8739414 0.3838977 -0.5773485 -0.5773461 0.5773563 -0.7279893 -0.6788567 -0.0958386 -0.2980716 -0.8739437 -0.3838955 -0.6625878 -0.6553553 -0.3626111 0.2980777 -0.8739392 -0.3839011 -0.5585646 -0.799692 -0.2202232 0.2980715 -0.8739442 0.3838945 0.6625878 -0.6553555 0.362611 0.5585644 -0.7996921 0.2202234 0.662585 -0.6553592 -0.3626094 0.5585667 -0.7996891 -0.2202285 0.7279834 -0.6788634 -0.09583741 -0.7279807 -0.6788658 -0.09584039 -0.5773519 -0.5773494 -0.5773495 -0.7279866 -0.6788599 0.09583741 -0.6557203 -0.653229 0.37858 -0.3785851 -0.6532167 0.6557296 -0.6557201 -0.6532289 -0.3785805 -0.3785859 -0.6532311 -0.6557148 -0.0958414 -0.6788715 -0.7279753 -0.662585 -0.6553592 0.3626093 -0.5585666 -0.7996892 0.2202285 -0.7279837 -0.6788624 0.09584212 0.7279804 -0.6788668 0.0958352 0.378582 -0.6532258 -0.6557224 0.6557341 -0.6532117 -0.3785861 0.09584265 -0.6788548 -0.7279906 -0.09583914 -0.6788762 -0.7279711 -0.3785854 -0.6532118 -0.6557343 -0.6557168 -0.6532208 -0.3786002 0.71729 -0.6302504 0.2971189 -0.3188644 -0.77026 -0.5522907 0.2971083 -0.6302478 -0.7172966 -0.3188685 -0.7702563 0.5522936 0.7172915 -0.6302524 -0.2971108 -0.5522835 -0.7702662 -0.3188619 -0.6377354 -0.7702557 -1.03342e-6 -0.5522845 -0.7702664 0.3188601 -0.3785843 -0.6532253 0.6557216 -0.6557309 -0.6532114 0.378592 -0.09584259 -0.6788544 0.7279911 0.09583914 -0.6788762 0.7279711 0.3785836 -0.6532133 0.6557339 0.6557235 -0.6532245 0.3785822 -0.2274587 -0.8041818 -0.5491396 0.2971103 -0.6302567 0.717288 -0.09583961 -0.6788622 0.7279843 -0.9970013 0.04189115 -0.06506562 -0.9970014 -0.04189133 -0.06506478 -0.717294 -0.6302499 -0.2971104 -0.7172942 0.6302464 -0.2971172 -0.9970014 0.04189145 0.06506502 -0.9970013 -0.04189097 0.06506538 -0.7172943 -0.6302465 0.2971167 -0.7172935 0.6302495 0.2971124 0.2274591 0.8041774 0.5491459 -0.08812159 0.7376928 0.6693608 0.5491268 0.8041895 -0.2274624 0.5491293 0.8041895 0.2274563 -0.08812004 0.737699 -0.6693543 0.2274559 0.8041899 -0.5491289 -0.3785882 0.6532144 0.6557302 -0.655717 0.6532342 0.3785768 -0.7571666 0.6532219 -1.34764e-6 -0.6557321 0.6532123 -0.3785884 -0.3785814 0.6532243 -0.6557241 -0.0881226 -0.7377053 0.669347 0.2274557 -0.8041857 0.549135 0.5491374 -0.8041831 0.2274594 0.5491191 -0.8041959 -0.2274585 0.2274603 -0.8041836 -0.5491363 -0.0881226 -0.7376868 -0.6693673 -0.3785878 -0.653214 -0.6557307 -0.6557168 -0.6532343 -0.3785769 -0.7571666 -0.6532219 0 -0.6557321 -0.6532121 0.3785888 -0.3785791 -0.6532204 0.6557293 -0.5522912 0.7702579 -0.3188689 -0.3188638 0.7702574 -0.5522949 -0.2971161 0.6302623 -0.7172807 -0.2971086 -0.6302708 -0.7172762 -0.3188668 -0.7702572 -0.5522933 -0.5522929 -0.770258 -0.3188655 -0.2971086 0.6302708 0.7172763 -0.2971161 -0.6302623 0.7172807 -0.3188647 0.7702567 0.5522951 -0.5522926 0.7702577 0.3188672 -0.5522914 -0.7702579 0.3188685 -0.3188655 -0.7702573 0.552294 0.297108 0.6302692 0.7172779 0.7172726 0.6302705 0.297118 0.7172529 0.6302968 -0.29711 0.3015121 0.9045332 0.3015135 0.3014983 0.904539 -0.3015095 0.2971061 0.6302939 0.717257 0.7172638 0.63028 0.2971193 0.7172731 0.6302685 -0.2971213 0.2971104 0.6302545 -0.7172899 0.2971107 0.6302635 -0.7172819 0.2971081 -0.6302694 -0.7172777 0.7172743 -0.630269 -0.2971172 0.7172533 -0.6302965 0.2971094 0.3015121 -0.9045332 -0.3015132 0.3014983 -0.904539 0.3015095 0.2971063 -0.6302943 -0.7172566 0.7172642 -0.6302796 -0.2971191 0.7172748 -0.6302669 0.2971206 0.2971104 -0.6302545 0.7172899 0.297111 -0.6302642 0.7172811 0.9425074 0.1449943 0.3010925 0.9425042 0.2612819 -0.208369 0.9425067 0.1449958 -0.3010936 0.9425078 0.1449938 0.3010914 0.9425082 0.1449941 -0.30109 0.9425045 0.2612811 0.2083688 0.9425033 0.3258178 0.0743668 0.942503 0.325819 -0.07436561 0.9425026 0.2612853 0.2083721 0.9425035 0.3258171 0.07436746 0.9425056 0.3258113 -0.07436567 0.9425027 0.261285 -0.2083716 0.9425082 0.1449934 -0.3010902 0.942506 0.1449961 0.3010958 0.9425039 0.2612826 0.2083694 0.9425021 0.3258209 0.07436746 0.9425047 0.3258143 -0.07436454 0.9425046 0.2612807 -0.2083684 0.9425076 0.1449941 0.3010917 0.9425026 0.2612854 0.2083719 0.9425027 0.3258192 0.07436704 0.9425083 0.1449934 -0.3010898 0.9425026 0.2612853 -0.2083722 0.9425035 0.3258175 -0.07436507 0.4021086 0.3963308 0.825367 0.3739073 0.5782677 0.7251206 0.4001373 0.7161149 0.5719 0.372164 0.8362488 0.4027184 0.399151 0.893849 0.2042361 0.3715748 0.9284031 0 0.3991509 0.8938492 -0.204236 0.37216 0.8362503 -0.4027188 0.402107 0.3963321 -0.8253672 0.3739063 0.5782681 -0.7251209 0.4001373 0.7161154 -0.5718995 0.402109 0.3963276 0.8253683 0.373908 0.5782656 0.7251219 0.4001372 0.7161169 0.5718978 0.3721639 0.8362498 0.4027164 0.3991521 0.8938487 0.2042353 0.3715823 0.9284 0 0.399151 0.893849 -0.2042362 0.3721589 0.8362519 -0.4027166 0.4021081 0.3963286 -0.8253682 0.3739078 0.5782658 -0.7251219 0.400137 0.7161174 -0.5718972 0.4021076 0.3963313 0.8253673 0.3739068 0.5782677 0.7251208 0.4001371 0.7161154 0.5718995 0.3721639 0.8362489 0.402718 0.3991509 0.893849 0.204236 0.3715816 0.9284003 0 0.3991505 0.8938494 -0.2042358 0.3721605 0.8362501 -0.4027189 0.4021071 0.3963314 -0.8253673 0.3739067 0.5782679 -0.7251207 0.4001374 0.7161149 -0.5719 0.4021081 0.3963279 0.8253686 0.373908 0.5782656 0.725122 0.4001367 0.7161173 0.5718974 0.3721632 0.8362502 0.4027162 0.3991521 0.8938487 0.2042357 0.3715822 0.9284002 0 0.3991508 0.8938491 -0.2042359 0.372159 0.8362518 -0.4027168 0.4021085 0.3963279 -0.8253684 0.3739082 0.5782656 -0.7251217 0.4001371 0.716117 -0.5718976 0.656562 0.3761228 -0.6538028 0.6578345 0.6519682 -0.3770825 0.6582429 0.7528057 0 0.6578129 0.6519848 0.3770915 0.6565696 0.3761194 0.6537972 0.6565723 0.3761171 -0.6537957 0.6578221 0.6519778 -0.3770877 0.6582553 0.7527948 0 0.65782 0.6519795 0.3770883 0.6565722 0.376117 0.6537958 0.6565722 0.3761172 -0.6537958 0.6578225 0.6519775 -0.3770875 0.6582581 0.7527924 0 0.6578251 0.6519753 0.3770866 0.6565697 0.3761194 0.653797 0.6565721 0.3761171 -0.653796 0.6578223 0.6519778 -0.3770872 0.6578198 0.6519796 0.3770887 0.6565721 0.3761176 0.6537956</float_array>
|
| 67 |
-
<technique_common>
|
| 68 |
-
<accessor source="#link7-mesh-normals-array" count="647" stride="3">
|
| 69 |
-
<param name="X" type="float"/>
|
| 70 |
-
<param name="Y" type="float"/>
|
| 71 |
-
<param name="Z" type="float"/>
|
| 72 |
-
</accessor>
|
| 73 |
-
</technique_common>
|
| 74 |
-
</source>
|
| 75 |
-
<vertices id="link7-mesh-vertices">
|
| 76 |
-
<input semantic="POSITION" source="#link7-mesh-positions"/>
|
| 77 |
-
</vertices>
|
| 78 |
-
<triangles material="哑光漆_黑色__1-material" count="1304">
|
| 79 |
-
<input semantic="VERTEX" source="#link7-mesh-vertices" offset="0"/>
|
| 80 |
-
<input semantic="NORMAL" source="#link7-mesh-normals" offset="1"/>
|
| 81 |
-
<p>0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 10 10 9 9 11 11 10 10 11 11 12 12 12 12 11 11 13 13 14 14 15 15 16 16 16 16 15 15 17 17 16 16 17 17 18 18 18 18 17 17 19 19 18 18 19 19 20 20 20 20 19 19 21 21 20 20 21 21 22 22 22 22 21 21 23 23 22 22 23 23 24 24 24 24 23 23 25 25 24 24 25 25 26 26 26 26 25 25 27 27 28 28 29 29 30 30 30 30 29 29 31 31 30 30 31 31 32 32 32 32 31 31 33 33 32 32 33 33 34 34 34 34 33 33 35 35 34 34 35 35 36 36 36 36 35 35 37 37 36 36 37 37 38 38 38 38 37 37 39 39 38 38 39 39 40 40 40 40 39 39 41 41 42 42 43 43 44 44 44 44 43 43 45 45 44 44 45 45 46 46 46 46 45 45 47 47 46 46 47 47 48 48 48 48 47 47 49 49 48 48 49 49 50 50 50 50 49 49 51 51 50 50 51 51 52 52 52 52 51 51 53 53 52 52 53 53 54 54 54 54 53 53 55 55 56 56 57 57 58 58 58 58 57 57 59 59 58 58 59 59 60 60 60 60 59 59 61 61 60 60 61 61 62 62 62 62 61 61 63 63 62 62 63 63 64 64 64 64 63 63 65 65 64 64 65 65 66 66 66 66 65 65 67 67 66 66 67 67 68 68 68 68 67 67 69 69 70 70 71 71 72 72 72 72 71 71 73 73 72 72 73 73 74 74 74 74 73 73 75 75 74 74 75 75 76 76 76 76 75 75 77 77 76 76 77 77 78 78 78 78 77 77 79 79 78 78 79 79 80 80 80 80 79 79 81 81 80 80 81 81 82 82 82 82 81 81 83 83 84 84 85 85 86 86 86 86 85 85 87 87 86 86 87 87 88 88 88 88 87 87 89 89 88 88 89 89 90 90 90 90 89 89 91 91 90 90 91 91 92 92 92 92 91 91 93 93 92 92 93 93 94 94 94 94 93 93 95 95 94 94 95 95 96 96 96 96 95 95 97 97 98 98 99 99 100 100 100 100 99 99 101 101 100 100 101 101 102 102 102 102 101 101 103 103 102 102 103 103 104 104 104 104 103 103 105 105 104 104 105 105 106 106 106 106 105 105 107 107 106 106 107 107 108 108 108 108 107 107 109 109 108 108 109 109 110 110 110 110 109 109 111 111 112 112 113 113 114 114 114 114 113 113 115 115 114 114 115 115 116 116 117 117 118 118 119 119 120 120 114 114 121 121 121 121 114 114 116 116 116 116 122 122 123 123 124 124 125 125 123 123 123 123 125 125 126 126 123 123 126 126 116 116 116 116 126 126 117 117 116 116 117 117 121 121 121 121 117 117 119 119 114 114 127 127 128 128 129 129 130 130 128 128 128 128 130 130 112 112 128 128 112 112 114 114 130 130 131 131 112 112 112 112 131 131 113 113 131 131 132 132 113 113 113 113 132 132 133 133 113 113 133 133 115 115 115 115 133 133 134 134 134 134 135 135 115 115 115 115 135 135 116 116 136 136 121 121 137 137 137 137 121 121 119 119 138 138 13 13 118 118 118 118 13 13 119 119 139 139 15 15 140 140 140 140 15 15 141 141 140 140 141 141 142 142 13 13 11 11 119 119 119 119 11 11 9 9 119 119 9 9 7 7 137 137 19 19 139 139 139 139 19 19 17 17 139 139 17 17 15 15 143 143 144 144 140 140 140 140 144 144 145 145 140 140 145 145 118 118 118 118 145 145 146 146 118 118 146 146 138 138 5 5 27 27 7 7 7 7 27 27 25 25 7 7 25 25 119 119 119 119 25 25 23 23 119 119 23 23 137 137 137 137 23 23 21 21 137 137 21 21 19 19 142 142 147 147 140 140 140 140 147 147 148 148 140 140 148 148 143 143 143 143 148 148 149 149 143 143 149 149 1 1 1 1 149 149 27 27 1 1 27 27 3 3 3 3 27 27 5 5 117 117 150 150 118 118 118 118 150 150 140 140 117 117 48 48 150 150 150 150 48 48 50 50 150 150 50 50 52 52 150 150 36 36 38 38 150 150 38 38 151 151 151 151 38 38 40 40 151 151 40 40 152 152 58 58 60 60 117 117 117 117 60 60 62 62 153 153 126 126 154 154 154 154 126 126 151 151 154 154 151 151 155 155 155 155 151 151 152 152 156 156 157 157 126 126 52 52 54 54 150 150 150 150 54 54 158 158 150 150 158 158 36 36 36 36 158 158 159 159 36 36 159 159 34 34 34 34 159 159 160 160 34 34 160 160 32 32 32 32 160 160 161 161 157 157 162 162 126 126 126 126 162 162 163 163 126 126 163 163 117 117 117 117 163 163 56 56 117 117 56 56 58 58 153 153 164 164 126 126 126 126 164 164 28 28 126 126 28 28 156 156 156 156 28 28 30 30 156 156 30 30 165 165 165 165 30 30 32 32 165 165 32 32 68 68 68 68 32 32 161 161 68 68 161 161 66 66 66 66 161 161 166 166 66 66 166 166 64 64 64 64 166 166 42 42 64 64 42 42 62 62 62 62 42 42 44 44 62 62 44 44 117 117 117 117 44 44 46 46 117 117 46 46 48 48 126 126 125 125 151 151 151 151 125 125 167 167 168 168 167 167 124 124 124 124 167 167 125 125 123 123 169 169 124 124 124 124 169 169 168 168 170 170 171 171 172 172 123 123 122 122 169 169 169 169 122 122 170 170 169 169 170 170 173 173 173 173 170 170 172 172 173 173 172 172 174 174 175 175 176 176 170 170 170 170 122 122 175 175 175 175 122 122 116 116 175 175 116 116 135 135 177 177 178 178 179 179 127 127 114 114 179 179 179 179 114 114 120 120 179 179 120 120 177 177 177 177 120 120 121 121 180 180 181 181 182 182 182 182 181 181 177 177 182 182 177 177 136 136 136 136 177 177 121 121 179 179 183 183 127 127 127 127 183 183 184 184 127 127 184 184 128 128 185 185 133 133 186 186 186 186 133 133 132 132 186 186 132 132 187 187 187 187 132 132 129 129 187 187 129 129 184 184 184 184 129 129 128 128 129 129 132 132 130 130 130 130 132 132 131 131 133 133 185 185 134 134 134 134 185 185 188 188 134 134 188 188 135 135 135 135 188 188 189 189 135 135 189 189 175 175 137 137 139 139 136 136 136 136 139 139 190 190 136 136 190 190 182 182 190 190 191 191 182 182 182 182 191 191 192 192 182 182 192 192 180 180 180 180 192 192 193 193 180 180 193 193 181 181 181 181 193 193 178 178 181 181 178 178 177 177 169 169 173 173 194 194 151 151 167 167 168 168 168 168 169 169 151 151 151 151 169 169 194 194 151 151 194 194 150 150 150 150 194 194 190 190 150 150 190 190 140 140 140 140 190 190 139 139 12 12 13 13 195 195 195 195 13 13 138 138 195 195 138 138 196 196 196 196 138 138 146 146 196 196 146 146 197 197 197 197 146 146 145 145 197 197 145 145 198 198 198 198 145 145 144 144 198 198 144 144 199 199 199 199 144 144 143 143 199 199 143 143 0 0 0 0 143 143 1 1 26 26 27 27 200 200 200 200 27 27 149 149 200 200 149 149 201 201 201 201 149 149 148 148 201 201 148 148 202 202 202 202 148 148 147 147 202 202 147 147 203 203 203 203 147 147 142 142 203 203 142 142 204 204 204 204 142 142 141 141 204 204 141 141 14 14 14 14 141 141 15 15 40 40 41 41 152 152 152 152 41 41 205 205 152 152 205 205 155 155 155 155 205 205 206 206 155 155 206 206 154 154 154 154 206 206 207 207 154 154 207 207 153 153 153 153 207 207 208 208 153 153 208 208 164 164 164 164 208 208 209 209 164 164 209 209 28 28 28 28 209 209 29 29 54 54 55 55 158 158 158 158 55 55 210 210 158 158 210 210 159 159 159 159 210 210 211 211 159 159 211 211 160 160 160 160 211 211 212 212 160 160 212 212 161 161 161 161 212 212 213 213 161 161 213 213 166 166 166 166 213 213 214 214 166 166 214 214 42 42 42 42 214 214 43 43 68 68 69 69 165 165 165 165 69 69 215 215 165 165 215 215 156 156 156 156 215 215 216 216 156 156 216 216 157 157 157 157 216 216 217 217 157 157 217 217 162 162 162 162 217 217 218 218 162 162 218 218 163 163 163 163 218 218 219 219 163 163 219 219 56 56 56 56 219 219 57 57 170 170 176 176 220 220 170 170 220 220 171 171 171 171 220 220 221 221 171 171 221 221 172 172 172 172 221 221 222 222 172 172 222 222 174 174 174 174 222 222 194 194 174 174 194 194 173 173 183 183 179 179 178 178 191 191 190 190 192 192 192 192 190 190 183 183 192 192 183 183 193 193 193 193 183 183 178 178 176 176 175 175 189 189 223 223 224 224 225 225 226 226 194 194 227 227 227 227 194 194 189 189 97 97 95 95 190 190 190 190 95 95 93 93 190 190 109 109 183 183 183 183 109 109 107 107 183 183 107 107 228 228 228 228 107 107 105 105 228 228 105 105 103 103 229 229 230 230 99 99 99 99 230 230 228 228 99 99 228 228 101 101 101 101 228 228 103 103 226 226 231 231 194 194 194 194 231 231 83 83 194 194 83 83 190 190 73 73 71 71 230 230 230 230 71 71 232 232 230 230 232 232 189 189 189 189 232 232 233 233 189 189 233 233 227 227 220 220 176 176 221 221 221 221 176 176 189 189 221 221 189 189 222 222 222 222 189 189 194 194 93 93 91 91 190 190 190 190 91 91 89 89 190 190 89 89 109 109 109 109 89 89 87 87 109 109 87 87 111 111 111 111 87 87 85 85 111 111 85 85 225 225 225 225 85 85 234 234 225 225 234 234 223 223 83 83 81 81 190 190 190 190 81 81 79 79 190 190 79 79 97 97 97 97 79 79 235 235 229 229 236 236 230 230 230 230 236 236 237 237 230 230 237 237 73 73 73 73 237 237 238 238 73 73 238 238 75 75 75 75 238 238 225 225 75 75 225 225 77 77 77 77 225 225 224 224 77 77 224 224 79 79 79 79 224 224 239 239 79 79 239 239 235 235 183 183 228 228 184 184 184 184 228 228 240 240 184 184 240 240 187 187 186 186 241 241 185 185 185 185 241 241 242 242 185 185 242 242 188 188 186 186 187 187 241 241 241 241 187 187 240 240 189 189 188 188 230 230 230 230 188 188 242 242 198 198 199 199 197 197 197 197 199 199 0 0 196 196 197 197 195 195 195 195 197 197 0 0 195 195 0 0 12 12 12 12 0 0 10 10 8 8 10 10 6 6 6 6 10 10 0 0 6 6 0 0 4 4 4 4 0 0 2 2 202 202 203 203 204 204 20 20 22 22 202 202 202 202 22 22 24 24 24 24 26 26 202 202 202 202 26 26 200 200 202 202 200 200 201 201 18 18 20 20 16 16 16 16 20 20 202 202 16 16 202 202 14 14 14 14 202 202 204 204 205 205 243 243 206 206 206 206 243 243 244 244 206 206 244 244 207 207 207 207 244 244 245 245 207 207 245 245 208 208 208 208 245 245 246 246 208 208 246 246 209 209 209 209 246 246 247 247 209 209 247 247 29 29 29 29 247 247 70 70 29 29 70 70 31 31 31 31 70 70 72 72 31 31 72 72 33 33 33 33 72 72 74 74 33 33 74 74 35 35 35 35 74 74 76 76 35 35 76 76 37 37 37 37 76 76 78 78 37 37 78 78 39 39 39 39 78 78 80 80 39 39 80 80 41 41 41 41 80 80 82 82 41 41 82 82 205 205 205 205 82 82 243 243 51 51 92 92 53 53 53 53 92 92 94 94 53 53 94 94 55 55 55 55 94 94 96 96 55 55 96 96 210 210 210 210 96 96 248 248 210 210 248 248 211 211 211 211 248 248 249 249 211 211 249 249 212 212 212 212 249 249 250 250 212 212 250 250 213 213 213 213 250 250 251 251 213 213 251 251 214 214 214 214 251 251 252 252 214 214 252 252 43 43 43 43 252 252 84 84 43 43 84 84 45 45 45 45 84 84 86 86 45 45 86 86 47 47 47 47 86 86 88 88 47 47 88 88 49 49 49 49 88 88 90 90 49 49 90 90 51 51 51 51 90 90 92 92 216 216 253 253 217 217 217 217 253 253 254 254 217 217 254 254 218 218 218 218 254 254 255 255 218 218 255 255 219 219 219 219 255 255 256 256 219 219 256 256 57 57 57 57 256 256 98 98 57 57 98 98 59 59 59 59 98 98 100 100 59 59 100 100 61 61 61 61 100 100 102 102 61 61 102 102 63 63 63 63 102 102 104 104 63 63 104 104 65 65 65 65 104 104 106 106 65 65 106 106 67 67 67 67 106 106 108 108 67 67 108 108 69 69 69 69 108 108 110 110 69 69 110 110 215 215 215 215 110 110 257 257 215 215 257 257 216 216 216 216 257 257 253 253 241 241 240 240 242 242 242 242 240 240 228 228 242 242 228 228 230 230 82 82 83 83 243 243 243 243 83 83 231 231 243 243 231 231 244 244 244 244 231 231 226 226 244 244 226 226 245 245 245 245 226 226 227 227 245 245 227 227 246 246 246 246 227 227 233 233 246 246 233 233 247 247 247 247 233 233 232 232 247 247 232 232 70 70 70 70 232 232 71 71 96 96 97 97 248 248 248 248 97 97 235 235 248 248 235 235 249 249 249 249 235 235 239 239 249 249 239 239 250 250 250 250 239 239 224 224 250 250 224 224 251 251 251 251 224 224 223 223 251 251 223 223 252 252 252 252 223 223 234 234 252 252 234 234 84 84 84 84 234 234 85 85 110 110 111 111 257 257 257 257 111 111 225 225 257 257 225 225 253 253 253 253 225 225 238 238 253 253 238 238 254 254 254 254 238 238 237 237 254 254 237 237 255 255 255 255 237 237 236 236 255 255 236 236 256 256 256 256 236 236 229 229 256 256 229 229 98 98 98 98 229 229 99 99 258 258 259 259 260 260 260 260 259 259 261 261 260 260 261 261 262 262 262 262 261 261 263 263 262 262 263 263 264 264 264 264 263 263 265 265 264 264 265 265 266 266 266 266 265 265 267 267 266 266 267 267 268 268 268 268 267 267 269 269 268 268 269 269 270 270 270 270 269 269 271 271 272 272 273 273 274 274 274 274 273 273 275 275 274 274 275 275 276 276 276 276 275 275 277 277 276 276 277 277 278 278 278 278 277 277 279 279 278 278 279 279 280 280 280 280 279 279 281 281 280 280 281 281 282 282 282 282 281 281 283 283 282 282 283 283 284 284 284 284 283 283 285 285 286 286 287 287 288 288 288 288 289 289 286 286 286 286 289 289 290 290 286 286 290 290 291 291 290 290 292 292 291 291 291 291 292 292 293 293 291 291 293 293 294 294 294 294 293 293 295 295 294 294 295 295 296 296 295 295 297 297 296 296 296 296 297 297 298 298 296 296 298 298 299 299 299 299 298 298 300 300 301 301 302 302 303 303 303 303 302 302 304 304 303 303 304 304 305 305 305 305 304 304 299 299 305 305 299 299 306 306 306 306 299 299 300 300 307 307 308 308 309 309 309 309 310 310 307 307 307 307 310 310 311 311 307 307 311 311 312 312 311 311 313 313 312 312 312 312 313 313 314 314 312 312 314 314 315 315 315 315 314 314 316 316 315 315 316 316 317 317 316 316 318 318 317 317 317 317 318 318 319 319 317 317 319 319 320 320 320 320 319 319 321 321 322 322 323 323 324 324 324 324 323 323 325 325 324 324 325 325 326 326 326 326 325 325 320 320 326 326 320 320 327 327 327 327 320 320 321 321 328 328 329 329 330 330 330 330 331 331 328 328 328 328 331 331 332 332 328 328 332 332 333 333 332 332 334 334 333 333 333 333 334 334 335 335 333 333 335 335 336 336 336 336 335 335 337 337 336 336 337 337 338 338 337 337 339 339 338 338 338 338 339 339 340 340 338 338 340 340 341 341 341 341 340 340 342 342 343 343 344 344 345 345 345 345 344 344 346 346 345 345 346 346 347 347 347 347 346 346 341 341 347 347 341 341 348 348 348 348 341 341 342 342 349 349 350 350 351 351 351 351 352 352 349 349 349 349 352 352 353 353 349 349 353 353 354 354 353 353 355 355 354 354 354 354 355 355 356 356 354 354 356 356 357 357 357 357 356 356 358 358 357 357 358 358 359 359 358 358 360 360 359 359 359 359 360 360 361 361 359 359 361 361 362 362 362 362 361 361 363 363 364 364 365 365 366 366 366 366 365 365 367 367 366 366 367 367 368 368 368 368 367 367 362 362 368 368 362 362 369 369 369 369 362 362 363 363 301 301 303 303 370 370 370 370 303 303 371 371 303 303 305 305 371 371 371 371 305 305 306 306 371 371 306 306 372 372 306 306 300 300 372 372 372 372 300 300 298 298 372 372 298 298 373 373 298 298 297 297 373 373 373 373 297 297 295 295 373 373 295 295 374 374 295 295 293 293 374 374 374 374 293 293 292 292 374 374 292 292 375 375 288 288 376 376 289 289 289 289 376 376 375 375 289 289 375 375 290 290 290 290 375 375 292 292 322 322 324 324 377 377 377 377 324 324 378 378 324 324 326 326 378 378 378 378 326 326 327 327 378 378 327 327 379 379 327 327 321 321 379 379 379 379 321 321 319 319 379 379 319 319 380 380 319 319 318 318 380 380 380 380 318 318 316 316 380 380 316 316 381 381 316 316 314 314 381 381 381 381 314 314 313 313 381 381 313 313 382 382 309 309 383 383 310 310 310 310 383 383 382 382 310 310 382 382 311 311 311 311 382 382 313 313 343 343 345 345 384 384 384 384 345 345 385 385 345 345 347 347 385 385 385 385 347 347 348 348 385 385 348 348 386 386 348 348 342 342 386 386 386 386 342 342 340 340 386 386 340 340 387 373 340 340 339 339 387 373 387 373 339 339 337 337 387 373 337 337 388 387 337 337 335 335 388 387 388 387 335 335 334 334 388 387 334 334 389 388 330 330 390 389 331 331 331 331 390 389 389 388 331 331 389 388 332 332 332 332 389 388 334 334 364 364 366 366 391 390 391 390 366 366 392 391 366 366 368 368 392 391 392 391 368 368 369 369 392 391 369 369 393 392 369 369 363 363 393 392 393 392 363 363 361 361 393 392 361 361 394 380 361 361 360 360 394 380 394 380 360 360 358 358 394 380 358 358 395 393 358 358 356 356 395 393 395 393 356 356 355 355 395 393 355 355 396 394 351 351 397 395 352 352 352 352 397 395 396 394 352 352 396 394 353 353 353 353 396 394 355 355 398 396 399 397 400 398 400 398 399 397 401 399 402 400 403 401 404 402 405 403 406 404 407 405 407 405 406 404 402 400 407 405 402 400 408 406 408 406 402 400 404 402 409 407 410 408 411 409 411 409 410 408 412 410 401 399 413 411 414 412 414 412 413 411 415 413 414 412 415 413 411 409 411 409 415 413 416 414 411 409 416 414 417 415 418 416 411 409 419 417 419 417 411 409 412 410 419 417 412 410 420 418 420 418 412 410 421 419 422 420 409 407 423 421 423 421 409 407 411 409 423 421 411 409 424 422 424 422 411 409 417 415 425 423 405 403 426 424 426 424 405 403 427 425 426 424 427 425 428 426 428 426 427 425 429 427 399 397 430 428 407 405 407 405 430 428 431 429 407 405 431 429 405 403 405 403 431 429 432 430 405 403 432 430 427 425 433 431 434 432 435 433 435 433 434 432 420 418 435 433 420 418 436 434 436 434 420 418 421 419 436 434 421 419 437 435 437 435 421 419 438 436 439 437 440 438 441 439 441 439 440 438 428 426 441 439 428 426 442 440 442 440 428 426 429 427 442 440 429 427 443 441 443 441 429 427 444 442 445 443 446 444 413 411 413 411 446 444 447 445 413 411 447 445 448 446 260 260 399 397 258 258 258 258 399 397 407 405 258 258 407 405 449 447 449 447 407 405 448 446 449 447 448 446 450 448 450 448 448 446 447 445 260 260 262 262 399 397 399 397 262 262 264 264 399 397 264 264 401 399 264 264 266 266 401 399 401 399 266 266 268 268 401 399 268 268 413 411 413 411 268 268 270 270 413 411 270 270 445 443 400 398 401 399 451 449 451 449 401 399 414 412 452 450 453 451 454 452 455 453 456 454 457 455 457 455 456 454 458 456 454 452 459 457 452 450 452 450 459 457 460 458 452 450 460 458 461 459 462 460 457 455 463 461 463 461 457 455 458 456 463 461 458 456 464 462 464 462 458 456 465 463 466 464 455 453 467 465 467 465 455 453 457 455 467 465 457 455 468 466 468 466 457 455 469 467 470 468 471 469 472 470 473 471 452 450 474 472 474 472 452 450 461 459 474 472 461 459 475 473 475 473 461 459 476 474 477 475 478 476 479 477 479 477 478 476 464 462 479 477 464 462 480 478 480 478 464 462 465 463 480 478 465 463 481 479 481 479 465 463 482 480 282 282 284 284 483 481 483 481 284 284 484 482 272 272 485 483 486 484 486 484 485 483 487 485 484 482 488 486 483 481 483 481 488 486 489 487 483 481 489 487 487 485 487 485 489 487 490 488 487 485 490 488 486 484 454 452 470 468 459 457 459 457 470 468 472 470 459 457 472 470 451 449 451 449 472 470 485 483 451 449 485 483 400 398 400 398 485 483 272 272 400 398 272 272 274 274 491 489 492 490 493 491 493 491 492 490 475 473 493 491 475 473 494 492 494 492 475 473 476 474 494 492 476 474 495 493 495 493 476 474 496 494 274 274 276 276 400 398 400 398 276 276 278 278 400 398 278 278 398 396 398 396 278 278 280 280 280 280 282 282 398 396 398 396 282 282 483 481 398 396 483 481 497 495 497 495 483 481 498 496 497 495 498 496 457 455 457 455 498 496 499 497 457 455 499 497 469 467 497 495 430 428 398 396 398 396 430 428 399 397 453 451 422 420 500 498 500 498 422 420 423 421 454 452 453 451 501 499 501 499 453 451 500 498 501 499 500 498 502 500 502 500 500 498 503 501 504 502 402 400 406 404 466 464 467 465 505 503 506 504 507 505 505 503 505 503 507 505 504 502 505 503 504 502 466 464 466 464 504 502 406 404 407 405 408 406 508 506 508 506 408 406 509 507 413 411 448 446 510 508 510 508 448 446 511 509 416 414 415 413 512 510 512 510 415 413 513 511 270 270 271 271 445 443 445 443 271 271 514 512 445 443 514 512 446 444 446 444 514 512 515 513 446 444 515 513 447 445 447 445 515 513 516 514 447 445 516 514 450 448 450 448 516 514 517 515 450 448 517 515 449 447 449 447 517 515 518 516 449 447 518 516 258 258 258 258 518 516 259 259 451 449 414 412 459 457 459 457 414 412 411 409 519 517 499 497 520 518 520 518 499 497 498 496 521 519 483 481 522 520 522 520 483 481 487 485 523 521 485 483 524 522 524 522 485 483 472 470 284 284 285 285 484 482 484 482 285 285 525 523 484 482 525 523 488 486 488 486 525 523 526 524 488 486 526 524 489 487 489 487 526 524 527 525 489 487 527 525 490 488 490 488 527 525 528 526 490 488 528 526 486 484 486 484 528 526 529 527 486 484 529 527 272 272 272 272 529 527 273 273 457 455 431 429 497 495 497 495 431 429 430 428 452 450 409 407 453 451 453 451 409 407 422 420 500 498 423 421 424 422 500 498 424 422 530 528 530 528 424 422 417 415 530 528 417 415 531 529 531 529 417 415 416 414 531 529 416 414 512 510 532 530 533 531 503 501 503 501 533 531 502 500 524 522 472 470 471 469 524 522 471 469 534 532 534 532 471 469 470 468 534 532 470 468 535 533 535 533 470 468 454 452 535 533 454 452 501 499 507 505 506 504 536 534 536 534 506 504 537 535 509 507 408 406 404 402 509 507 404 402 538 536 538 536 404 402 403 401 538 536 403 401 539 537 539 537 403 401 402 400 539 537 402 400 504 502 466 464 406 404 455 453 455 453 406 404 405 403 505 503 467 465 468 466 505 503 468 466 540 538 540 538 468 466 469 467 540 538 469 467 541 539 541 539 469 467 499 497 541 539 499 497 519 517 448 446 407 405 511 509 511 509 407 405 508 506 542 540 543 541 544 542 545 543 510 508 546 544 546 544 510 508 511 509 504 502 507 505 539 537 539 537 507 505 538 536 538 536 507 505 509 507 509 507 507 505 536 534 509 507 536 534 508 506 508 506 536 534 547 545 508 506 547 545 511 509 511 509 547 545 548 546 511 509 548 546 546 544 546 544 548 546 549 547 546 544 549 547 550 548 545 543 542 540 510 508 510 508 542 540 544 542 510 508 544 542 513 511 513 511 544 542 551 549 513 511 551 549 512 510 512 510 551 549 532 530 512 510 532 530 531 529 531 529 532 530 503 501 531 529 503 501 530 528 530 528 503 501 500 498 415 413 413 411 513 511 513 511 413 411 510 508 267 267 517 515 516 514 267 267 265 265 263 263 271 271 269 269 514 512 514 512 269 269 267 267 514 512 267 267 515 513 515 513 267 267 516 514 518 516 517 515 259 259 259 259 517 515 267 267 259 259 267 267 261 261 261 261 267 267 263 263 419 417 461 459 460 458 419 417 460 458 418 416 418 416 460 458 459 457 418 416 459 457 411 409 520 518 498 496 521 519 521 519 498 496 483 481 552 550 553 551 554 552 555 553 521 519 556 554 556 554 521 519 522 520 501 499 502 500 535 533 535 533 502 500 534 532 534 532 502 500 524 522 524 522 502 500 533 531 524 522 533 531 523 521 523 521 533 531 557 555 523 521 557 555 522 520 522 520 557 555 558 556 522 520 558 556 556 554 556 554 558 556 559 557 556 554 559 557 560 558 555 553 552 550 521 519 521 519 552 550 554 552 521 519 554 552 520 518 520 518 554 552 561 559 520 518 561 559 519 517 519 517 561 559 537 535 519 517 537 535 541 539 541 539 537 535 506 504 541 539 506 504 540 538 540 538 506 504 505 503 522 520 487 485 523 521 523 521 487 485 485 483 281 281 528 526 527 525 281 281 279 279 277 277 285 285 283 283 525 523 525 523 283 283 281 281 525 523 281 281 526 524 526 524 281 281 527 525 529 527 528 526 273 273 273 273 528 526 281 281 273 273 281 281 275 275 275 275 281 281 277 277 431 429 457 455 462 460 431 429 462 460 432 430 432 430 462 460 463 461 432 430 463 461 427 425 409 407 452 450 473 471 409 407 473 471 410 408 410 408 473 471 474 472 410 408 474 472 412 410 551 549 557 555 532 530 532 530 557 555 533 531 536 534 537 535 547 545 547 545 537 535 561 559 426 424 458 456 456 454 426 424 456 454 425 423 425 423 456 454 455 453 425 423 455 453 405 403 545 543 546 544 556 554 556 554 546 544 555 553 543 541 287 287 286 286 562 560 320 320 325 325 286 286 291 291 543 541 543 541 291 291 294 294 543 541 294 294 544 542 544 542 294 294 296 296 544 542 296 296 299 299 563 561 564 562 559 557 559 557 564 562 308 308 559 557 308 308 543 541 323 323 565 563 558 556 308 308 307 307 543 541 543 541 307 307 312 312 543 541 312 312 287 287 287 287 312 312 566 564 565 563 567 565 558 556 558 556 567 565 568 566 558 556 568 566 559 557 559 557 568 566 569 567 559 557 569 567 563 561 562 560 570 568 320 320 320 320 570 568 571 569 320 320 571 569 317 317 299 299 304 304 544 542 544 542 304 304 302 302 544 542 302 302 558 556 558 556 302 302 562 560 558 556 562 560 323 323 323 323 562 560 325 325 317 317 571 569 315 315 315 315 571 569 572 570 315 315 572 570 312 312 312 312 572 570 573 571 312 312 573 571 566 564 328 328 548 546 329 329 329 329 548 546 554 552 329 329 554 552 574 572 362 362 367 367 549 547 549 547 367 367 365 365 549 547 365 365 553 551 553 551 365 365 575 573 575 573 576 574 553 551 553 551 576 574 577 575 553 551 577 575 554 552 554 552 577 575 578 576 554 552 578 576 579 577 328 328 333 333 548 546 548 546 333 333 336 336 548 546 336 336 549 547 549 547 336 336 338 338 549 547 338 338 341 341 341 341 346 346 549 547 549 547 346 346 344 344 549 547 344 344 362 362 344 344 580 578 362 362 362 362 580 578 581 579 362 362 581 579 582 580 579 577 583 581 554 552 554 552 583 581 350 350 554 552 350 350 574 572 574 572 350 350 349 349 574 572 349 349 584 582 584 582 349 349 585 583 349 349 354 354 585 583 585 583 354 354 357 357 585 583 357 357 582 580 582 580 357 357 359 359 582 580 359 359 362 362 461 459 419 417 476 474 476 474 419 417 420 418 464 462 429 427 463 461 463 461 429 427 427 425 475 473 421 419 474 472 474 472 421 419 412 410 544 542 558 556 551 549 551 549 558 556 557 555 547 545 561 559 548 546 548 546 561 559 554 552 458 456 426 424 465 463 465 463 426 424 428 426 542 540 545 543 560 558 560 558 545 543 556 554 546 544 550 548 555 553 555 553 550 548 552 550 543 541 542 540 559 557 559 557 542 540 560 558 562 560 302 302 301 301 301 301 586 584 562 560 562 560 586 584 587 585 562 560 587 585 570 568 587 585 588 586 570 568 570 568 588 586 589 587 570 568 589 587 571 569 571 569 589 587 590 588 571 569 590 588 572 570 590 588 591 589 572 570 572 570 591 589 592 590 572 570 592 590 573 571 573 571 592 590 593 591 288 288 287 287 594 592 594 592 287 287 566 564 594 592 566 564 595 593 595 593 566 564 573 571 595 593 573 571 596 594 596 594 573 571 593 591 565 563 323 323 322 322 322 322 597 595 565 563 565 563 597 595 598 596 565 563 598 596 567 565 598 596 599 597 567 565 567 565 599 597 600 598 567 565 600 598 568 566 600 598 601 599 568 566 568 566 601 599 602 600 568 566 602 600 569 567 569 567 602 600 603 601 569 567 603 601 563 561 563 561 603 601 604 602 309 309 308 308 605 603 605 603 308 308 564 562 605 603 564 562 606 604 606 604 564 562 563 561 606 604 563 561 607 605 607 605 563 561 604 602 550 548 549 547 552 550 552 550 549 547 553 551 580 578 344 344 343 343 343 343 608 606 580 578 580 578 608 606 609 607 580 578 609 607 581 579 609 607 610 608 581 579 581 579 610 608 611 609 581 579 611 609 582 580 611 609 612 610 582 580 582 580 612 610 613 611 582 580 613 611 585 583 585 583 613 611 614 612 585 583 614 612 584 582 584 582 614 612 615 613 330 330 329 329 616 614 616 614 329 329 574 572 616 614 574 572 617 615 617 615 574 572 584 582 617 615 584 582 618 616 618 616 584 582 615 613 575 573 365 365 364 364 364 364 619 617 575 573 575 573 619 617 620 618 575 573 620 618 576 574 620 618 621 619 576 574 576 574 621 619 622 620 576 574 622 620 577 575 622 620 623 621 577 575 577 575 623 621 624 622 577 575 624 622 578 576 578 576 624 622 625 623 578 576 625 623 579 577 579 577 625 623 626 624 351 351 350 350 627 625 627 625 350 350 583 581 627 625 583 581 628 626 628 626 583 581 579 577 628 626 579 577 629 627 629 627 579 577 626 624 435 433 494 492 495 493 435 433 495 493 433 431 433 431 495 493 496 494 433 431 496 494 434 432 434 432 496 494 476 474 434 432 476 474 420 418 429 427 464 462 478 476 429 427 478 476 444 442 444 442 478 476 477 475 444 442 477 475 443 441 443 441 477 475 479 477 443 441 479 477 442 440 421 419 475 473 492 490 421 419 492 490 438 436 438 436 492 490 491 489 438 436 491 489 437 435 437 435 491 489 493 491 437 435 493 491 436 434 441 439 480 478 481 479 441 439 481 479 439 437 439 437 481 479 482 480 439 437 482 480 440 438 440 438 482 480 465 463 440 438 465 463 428 426 288 288 594 592 376 376 376 376 594 592 630 628 594 592 595 593 630 628 630 628 595 593 596 594 630 628 596 594 631 629 596 594 593 591 631 629 631 629 593 591 592 590 631 629 592 590 632 630 592 590 591 589 632 630 632 630 591 589 590 588 632 630 590 588 633 631 590 588 589 587 633 631 633 631 589 587 588 586 633 631 588 586 634 632 301 301 370 370 586 584 586 584 370 370 634 632 586 584 634 632 587 585 587 585 634 632 588 586 309 309 605 603 383 383 383 383 605 603 635 633 605 603 606 604 635 633 635 633 606 604 607 605 635 633 607 605 636 634 607 605 604 602 636 634 636 634 604 602 603 601 636 634 603 601 637 635 603 601 602 600 637 635 637 635 602 600 601 599 637 635 601 599 638 636 601 599 600 598 638 636 638 636 600 598 599 597 638 636 599 597 639 637 322 322 377 377 597 595 597 595 377 377 639 637 597 595 639 637 598 596 598 596 639 637 599 597 330 330 616 614 390 389 390 389 616 614 640 638 616 614 617 615 640 638 640 638 617 615 618 616 640 638 618 616 641 639 618 616 615 613 641 639 641 639 615 613 614 612 641 639 614 612 642 640 614 612 613 611 642 640 642 640 613 611 612 610 642 640 612 610 643 641 612 610 611 609 643 641 643 641 611 609 610 608 643 641 610 608 644 642 343 343 384 384 608 606 608 606 384 384 644 642 608 606 644 642 609 607 609 607 644 642 610 608 351 351 627 625 397 395 397 395 627 625 645 643 627 625 628 626 645 643 645 643 628 626 629 627 645 643 629 627 646 644 629 627 626 624 646 644 646 644 626 624 625 623 646 644 625 623 647 635 625 623 624 622 647 635 647 635 624 622 623 621 647 635 623 621 648 645 623 621 622 620 648 645 648 645 622 620 621 619 648 645 621 619 649 646 364 364 391 390 619 617 619 617 391 390 649 646 619 617 649 646 620 618 620 618 649 646 621 619 494 492 435 433 493 491 493 491 435 433 436 434 480 478 441 439 479 477 479 477 441 439 442 440 372 372 373 373 371 371 371 371 373 373 374 374 371 371 374 374 370 370 631 629 632 630 630 628 630 628 632 630 633 631 630 628 633 631 376 376 376 376 633 631 375 375 375 375 633 631 374 374 374 374 633 631 634 632 374 374 634 632 370 370 379 379 380 380 381 381 636 634 637 635 638 636 383 383 635 633 636 634 381 381 382 382 383 383 638 636 639 637 377 377 383 383 636 634 381 381 381 381 636 634 638 636 381 381 638 636 379 379 379 379 638 636 377 377 379 379 377 377 378 378 388 387 643 641 644 642 390 389 640 638 641 639 386 386 387 373 385 385 385 385 387 373 388 387 385 385 388 387 384 384 384 384 388 387 644 642 388 387 389 388 643 641 643 641 389 388 390 389 643 641 390 389 642 640 642 640 390 389 641 639 646 644 647 635 648 645 393 392 394 380 395 393 391 390 392 391 393 392 648 645 649 646 391 390 395 393 396 394 397 395 391 390 393 392 648 645 648 645 393 392 395 393 648 645 395 393 646 644 646 644 395 393 397 395 646 644 397 395 645 643</p>
|
| 82 |
-
</triangles>
|
| 83 |
-
</mesh>
|
| 84 |
-
</geometry>
|
| 85 |
-
</library_geometries>
|
| 86 |
-
<library_visual_scenes>
|
| 87 |
-
<visual_scene id="Scene" name="Scene">
|
| 88 |
-
<node id="link7" name="link7" type="NODE">
|
| 89 |
-
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
| 90 |
-
<instance_geometry url="#link7-mesh" name="link7">
|
| 91 |
-
<bind_material>
|
| 92 |
-
<technique_common>
|
| 93 |
-
<instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
|
| 94 |
-
</technique_common>
|
| 95 |
-
</bind_material>
|
| 96 |
-
</instance_geometry>
|
| 97 |
-
</node>
|
| 98 |
-
</visual_scene>
|
| 99 |
-
</library_visual_scenes>
|
| 100 |
-
<scene>
|
| 101 |
-
<instance_visual_scene url="#Scene"/>
|
| 102 |
-
</scene>
|
| 103 |
-
</COLLADA>
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cf87ef550d6ab5d71058e7da63ba6ac4c492a9385b3ca0eed37eee0fd0cab97e
|
| 3 |
+
size 77172
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.STL
CHANGED
|
Binary files a/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.STL and b/embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.STL differ
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/link8.dae
CHANGED
|
@@ -1,103 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
<contributor>
|
| 5 |
-
<author>Blender User</author>
|
| 6 |
-
<authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
|
| 7 |
-
</contributor>
|
| 8 |
-
<created>2024-07-25T15:55:22</created>
|
| 9 |
-
<modified>2024-07-25T15:55:22</modified>
|
| 10 |
-
<unit name="meter" meter="1"/>
|
| 11 |
-
<up_axis>Z_UP</up_axis>
|
| 12 |
-
</asset>
|
| 13 |
-
<library_effects>
|
| 14 |
-
<effect id="哑光漆_黑色__1-effect">
|
| 15 |
-
<profile_COMMON>
|
| 16 |
-
<newparam sid="Image_269-surface">
|
| 17 |
-
<surface type="2D">
|
| 18 |
-
<init_from>Image_269</init_from>
|
| 19 |
-
</surface>
|
| 20 |
-
</newparam>
|
| 21 |
-
<newparam sid="Image_269-sampler">
|
| 22 |
-
<sampler2D>
|
| 23 |
-
<source>Image_269-surface</source>
|
| 24 |
-
</sampler2D>
|
| 25 |
-
</newparam>
|
| 26 |
-
<technique sid="common">
|
| 27 |
-
<lambert>
|
| 28 |
-
<emission>
|
| 29 |
-
<color sid="emission">0 0 0 1</color>
|
| 30 |
-
</emission>
|
| 31 |
-
<diffuse>
|
| 32 |
-
<texture texture="Image_269-sampler"/>
|
| 33 |
-
</diffuse>
|
| 34 |
-
<index_of_refraction>
|
| 35 |
-
<float sid="ior">1.5</float>
|
| 36 |
-
</index_of_refraction>
|
| 37 |
-
</lambert>
|
| 38 |
-
</technique>
|
| 39 |
-
</profile_COMMON>
|
| 40 |
-
</effect>
|
| 41 |
-
</library_effects>
|
| 42 |
-
<library_images>
|
| 43 |
-
<image id="Image_269" name="Image_269">
|
| 44 |
-
<init_from>Image_269.png</init_from>
|
| 45 |
-
</image>
|
| 46 |
-
</library_images>
|
| 47 |
-
<library_materials>
|
| 48 |
-
<material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
|
| 49 |
-
<instance_effect url="#哑光漆_黑色__1-effect"/>
|
| 50 |
-
</material>
|
| 51 |
-
</library_materials>
|
| 52 |
-
<library_geometries>
|
| 53 |
-
<geometry id="link8-mesh" name="link8">
|
| 54 |
-
<mesh>
|
| 55 |
-
<source id="link8-mesh-positions">
|
| 56 |
-
<float_array id="link8-mesh-positions-array" count="1980">-0.006799995 0.01604437 8.03544e-4 -0.006799995 0.0122444 8.03544e-4 -0.007149994 0.01604437 7.09762e-4 -0.007149994 0.0122444 7.09762e-4 -0.007406175 0.01604437 4.53544e-4 -0.007406175 0.0122444 4.53544e-4 -0.007499992 0.01604437 1.03544e-4 -0.007499992 0.0122444 1.03544e-4 -0.007406175 0.01604437 -2.46456e-4 -0.007406175 0.0122444 -2.46456e-4 -0.007149994 0.01604437 -5.02673e-4 -0.007149994 0.0122444 -5.02673e-4 -0.006799995 0.01604437 -5.96456e-4 -0.006799995 0.0122444 -5.96456e-4 -0.006799995 -0.01285552 -5.96456e-4 -0.006799995 -0.009055554 -5.96456e-4 -0.007149994 -0.01285552 -5.02673e-4 -0.007149994 -0.009055554 -5.02673e-4 -0.007406175 -0.01285552 -2.46456e-4 -0.007406175 -0.009055554 -2.46456e-4 -0.007499992 -0.01285552 1.03544e-4 -0.007499992 -0.009055554 1.03544e-4 -0.007406175 -0.01285552 4.53544e-4 -0.007406175 -0.009055554 4.53544e-4 -0.007149994 -0.01285552 7.09762e-4 -0.007149994 -0.009055554 7.09762e-4 -0.006799995 -0.01285552 8.03544e-4 -0.006799995 -0.009055554 8.03544e-4 -0.004999995 0.007245242 -0.006044983 -0.004999995 0.006594359 -0.005896449 -0.005270481 0.006594359 -0.006166934 -0.005270481 0.007127821 -0.006288707 -0.005270481 0.007198452 -0.006345033 -0.004999995 0.00776714 -0.006461203 -0.005270481 0.007555663 -0.006629824 -0.005270481 0.00763452 -0.006793558 -0.004999995 0.008056759 -0.007062673 -0.005270481 0.007793068 -0.007122814 -0.004999995 0.008056759 -0.007730185 -0.005270481 0.007793068 -0.007396399 -0.005270481 0.007793068 -0.007670044 -0.004999995 0.00776714 -0.008331656 -0.005270481 0.00763452 -0.0079993 -0.005270481 0.006594359 -0.008625924 -0.004999995 0.006594359 -0.00889641 -0.005270481 0.007127821 -0.008504152 -0.004999995 0.007245242 -0.008747875 -0.005270481 0.007198452 -0.008447825 -0.005270481 0.007555663 -0.008163034 -0.004999995 -0.002754747 -0.006044983 -0.004999995 -0.00340557 -0.005896449 -0.005270481 -0.00340557 -0.006166934 -0.005270481 -0.002872109 -0.006288707 -0.005270481 -0.002801477 -0.006345033 -0.004999995 -0.002232789 -0.006461203 -0.005270481 -0.002444267 -0.006629824 -0.005270481 -0.002365469 -0.006793558 -0.004999995 -0.001943171 -0.007062673 -0.005270481 -0.002206861 -0.007122814 -0.004999995 -0.001943171 -0.007730185 -0.005270481 -0.002206861 -0.007396399 -0.005270481 -0.002206861 -0.007670044 -0.004999995 -0.002232789 -0.008331656 -0.005270481 -0.002365469 -0.0079993 -0.005270481 -0.00340557 -0.008625924 -0.004999995 -0.00340557 -0.00889641 -0.005270481 -0.002872109 -0.008504152 -0.004999995 -0.002754747 -0.008747875 -0.005270481 -0.002801477 -0.008447825 -0.005270481 -0.002444267 -0.008163034 -0.004999995 0.007245242 0.008954942 -0.004999995 0.006594359 0.009103536 -0.005270481 0.006594359 0.008832991 -0.005270481 0.007127821 0.008711278 -0.005270481 0.007198452 0.008654952 -0.004999995 0.00776714 0.008538722 -0.005270481 0.007555663 0.008370101 -0.005270481 0.00763452 0.008206367 -0.004999995 0.008056759 0.007937312 -0.005270481 0.007793068 0.007877111 -0.004999995 0.008056759 0.00726974 -0.005270481 0.007793068 0.007603526 -0.005270481 0.007793068 0.00732994 -0.004999995 0.00776714 0.006668269 -0.005270481 0.00763452 0.007000625 -0.005270481 0.006594359 0.006374001 -0.004999995 0.006594359 0.006103515 -0.005270481 0.007127821 0.006495773 -0.004999995 0.007245242 0.00625205 -0.005270481 0.007198452 0.0065521 -0.005270481 0.007555663 0.00683695 -0.004999995 -0.002754747 0.008954942 -0.004999995 -0.00340557 0.009103536 -0.005270481 -0.00340557 0.008832991 -0.005270481 -0.002872109 0.008711278 -0.005270481 -0.002801477 0.008654952 -0.004999995 -0.002232789 0.008538722 -0.005270481 -0.002444267 0.008370101 -0.005270481 -0.002365469 0.008206367 -0.004999995 -0.001943171 0.007937312 -0.005270481 -0.002206861 0.007877111 -0.004999995 -0.001943171 0.00726974 -0.005270481 -0.002206861 0.007603526 -0.005270481 -0.002206861 0.00732994 -0.004999995 -0.002232789 0.006668269 -0.005270481 -0.002365469 0.007000625 -0.005270481 -0.00340557 0.006374001 -0.004999995 -0.00340557 0.006103515 -0.005270481 -0.002872109 0.006495773 -0.004999995 -0.002754747 0.00625205 -0.005270481 -0.002801477 0.0065521 -0.005270481 -0.002444267 0.00683695 -0.007999956 0.006594359 -0.008625924 -0.007999956 0.007209122 -0.008461177 -0.007999956 0.007659196 -0.008011162 -0.007999956 0.007823884 -0.007396399 -0.007999956 0.007659196 -0.006781697 -0.007999956 0.007209122 -0.006331622 -0.007999956 0.006594359 -0.006166934 -0.007999956 -0.00340557 -0.008625924 -0.007999956 -0.002790808 -0.008461177 -0.007999956 -0.002340793 -0.008011162 -0.007999956 -0.002176046 -0.007396399 -0.007999956 -0.002340793 -0.006781697 -0.007999956 -0.002790808 -0.006331622 -0.007999956 -0.00340557 -0.006166934 -0.007999956 0.006594359 0.006374001 -0.007999956 0.007209122 0.006538748 -0.007999956 0.007659196 0.006988763 -0.007999956 0.007823884 0.007603526 -0.007999956 0.007659196 0.008218288 -0.007999956 0.007209122 0.008668303 -0.007999956 0.006594359 0.008832991 -0.007999956 -0.00340557 0.006374001 -0.007999956 -0.002790808 0.006538748 -0.007999956 -0.002340793 0.006988763 -0.007999956 -0.002176046 0.007603526 -0.007999956 -0.002340793 0.008218288 -0.007999956 -0.002790808 0.008668303 -0.007999956 -0.00340557 0.008832991 -0.008499979 -0.01285552 0.004303514 -0.008499979 0.01604437 0.004303514 -0.008499979 -0.01285552 -0.004096448 -0.008499979 0.01604437 -0.004096448 -0.01299995 0.01604437 0.009103536 -0.01293301 0.01604437 0.009353518 -0.01274996 0.01604437 0.009536504 -0.01134198 0.01604437 0.004603505 -0.01299995 0.01604437 0.004603505 -0.005999982 0.01604437 0.0096035 -0.01249998 0.01604437 0.0096035 -0.01134198 0.01604437 -0.004396438 -0.01125091 0.01604437 -0.004040181 -0.009857952 0.01604437 -0.004396438 -0.01099997 0.01604437 -0.003771424 -0.005499958 0.01604437 -0.00889641 -0.00879997 0.01604437 -0.004396438 -0.005999982 0.01604437 -0.009396433 -0.01249998 0.01604437 -0.009396433 -0.01274996 0.01604437 -0.009329438 -0.009949028 0.01604437 -0.004040181 -0.01019996 0.01604437 -0.003771424 -0.01019996 0.01604437 -0.003346443 -0.01099997 0.01604437 -0.003346443 -0.01299995 0.01604437 -0.004396438 -0.01299995 0.01604437 -0.00889641 -0.01293301 0.01604437 -0.009146451 -0.01125091 0.01604437 0.004247307 -0.01099997 0.01604437 0.00397849 -0.01019996 0.01604437 0.00397849 -0.01099997 0.01604437 0.003553509 -0.01019996 0.01604437 0.003553509 -0.00879997 0.01604437 0.004603505 -0.009857952 0.01604437 0.004603505 -0.009949028 0.01604437 0.004247307 -0.01029998 0.01604437 -0.003173232 -0.01022678 0.01604437 -0.003246426 -0.01039999 0.01604437 -0.003146409 -0.0108 0.01604437 -0.003146409 -0.01089996 0.01604437 -0.003173232 -0.01097315 0.01604437 -0.003246426 -0.01089996 0.01604437 0.003380298 -0.01097315 0.01604437 0.003453493 -0.0108 0.01604437 0.003353536 -0.01039999 0.01604437 0.003353536 -0.01029998 0.01604437 0.003380298 -0.01022678 0.01604437 0.003453493 -0.006449997 0.01604437 -5.02673e-4 -0.006193757 0.01604437 -2.46456e-4 -0.006099998 0.01604437 1.03544e-4 -0.005499958 0.01604437 0.009103536 -0.006449997 0.01604437 7.09762e-4 -0.006193757 0.01604437 4.53544e-4 -0.00879997 -0.01285552 -0.004396438 -0.01134198 -0.01285552 -0.004396438 -0.01299995 -0.01285552 -0.004396438 -0.01299995 -0.01285552 -0.00889641 -0.01134198 -0.01285552 0.004603505 -0.01125091 -0.01285552 0.004247307 -0.009857952 -0.01285552 0.004603505 -0.01099997 -0.01285552 0.00397849 -0.009857952 -0.01285552 -0.004396438 -0.009949028 -0.01285552 -0.004040181 -0.01019996 -0.01285552 -0.003771424 -0.009949028 -0.01285552 0.004247307 -0.01019996 -0.01285552 0.00397849 -0.01019996 -0.01285552 0.003553509 -0.01099997 -0.01285552 0.003553509 -0.01299995 -0.01285552 0.004603505 -0.01299995 -0.01285552 0.009103536 -0.01293301 -0.01285552 0.009353518 -0.01274996 -0.01285552 0.009536504 -0.01293301 -0.01285552 -0.009146451 -0.01274996 -0.01285552 -0.009329438 -0.01249998 -0.01285552 -0.009396433 -0.01125091 -0.01285552 -0.004040181 -0.01099997 -0.01285552 -0.003771424 -0.01099997 -0.01285552 -0.003346443 -0.01019996 -0.01285552 -0.003346443 -0.01029998 -0.01285552 0.003380298 -0.01022678 -0.01285552 0.003453493 -0.01039999 -0.01285552 0.003353536 -0.0108 -0.01285552 0.003353536 -0.01089996 -0.01285552 0.003380298 -0.01097315 -0.01285552 0.003453493 -0.005499958 -0.01285552 0.009103536 -0.006449997 -0.01285552 7.09762e-4 -0.005999982 -0.01285552 -0.009396433 -0.006449997 -0.01285552 -5.02673e-4 -0.005499958 -0.01285552 -0.00889641 -0.006193757 -0.01285552 4.53544e-4 -0.006099998 -0.01285552 1.03544e-4 -0.006193757 -0.01285552 -2.46456e-4 -0.01089996 -0.01285552 -0.003173232 -0.01097315 -0.01285552 -0.003246426 -0.0108 -0.01285552 -0.003146409 -0.01039999 -0.01285552 -0.003146409 -0.01029998 -0.01285552 -0.003173232 -0.01022678 -0.01285552 -0.003246426 -0.00879997 -0.01285552 0.004603505 -0.005999982 -0.01285552 0.0096035 -0.01249998 -0.01285552 0.0096035 -0.01299995 0.01104438 -0.00889641 -0.01299995 -0.007855534 -0.00889641 -0.01299995 -0.007855534 -0.009396433 -0.01299995 0.01104438 -0.009396433 -0.01299995 0.01104438 0.009103536 -0.01299995 -0.007855534 0.009103536 -0.01299995 -0.007855534 0.0096035 -0.01299995 0.01104438 0.0096035 -0.005999982 0.01104438 0.0096035 -0.01249998 0.01104438 0.0096035 -0.005499958 0.01104438 -0.00889641 -0.005499958 0.01104438 0.009103536 -0.01249998 0.01104438 -0.009396433 -0.005999982 0.01104438 -0.009396433 -0.006449997 0.0122444 -5.02673e-4 -0.006193757 0.0122444 -2.46456e-4 -0.006099998 0.0122444 1.03544e-4 -0.006193757 0.0122444 4.53544e-4 -0.006449997 0.0122444 7.09762e-4 -0.01249998 -0.007855534 0.0096035 -0.005999982 -0.007855534 0.0096035 -0.005499958 -0.007855534 0.009103536 -0.005499958 -0.007855534 -0.00889641 -0.005999982 -0.007855534 -0.009396433 -0.01249998 -0.007855534 -0.009396433 -0.006449997 -0.009055554 7.09762e-4 -0.006193757 -0.009055554 4.53544e-4 -0.006099998 -0.009055554 1.03544e-4 -0.006193757 -0.009055554 -2.46456e-4 -0.006449997 -0.009055554 -5.02673e-4 -0.01293301 0.01104438 -0.009146451 -0.01274996 0.01104438 -0.009329438 -0.01249998 0.01104438 -0.009896397 -0.01249998 -0.007855534 -0.009896397 -0.01274996 -0.007855534 -0.009329438 -0.01293301 -0.007855534 -0.009146451 -0.01249998 0.01104438 0.01010352 -0.01249998 -0.007855534 0.01010352 -0.01274996 0.01104438 0.009536504 -0.01293301 0.01104438 0.009353518 -0.01293301 -0.007855534 0.009353518 -0.01274996 -0.007855534 0.009536504 -0.005299985 0.01104438 -0.004396438 -0.004999995 0.01104438 -0.004696428 -0.004999995 0.01104438 -0.009396433 -0.005399942 0.01104438 -0.004396438 -0.005399942 0.01104438 0.004603505 -0.005499958 0.01104438 0.01010352 -0.004999995 0.01104438 0.0096035 -0.004999995 0.01104438 0.004903495 -0.005299985 0.01104438 0.004603505 -0.005499958 0.01104438 -0.009896397 -0.005299985 -0.007855534 0.004603505 -0.004999995 -0.007855534 0.004903495 -0.004999995 -0.007855534 0.0096035 -0.005399942 -0.007855534 0.004603505 -0.005399942 -0.007855534 -0.004396438 -0.005499958 -0.007855534 -0.009896397 -0.004999995 -0.007855534 -0.009396433 -0.004999995 -0.007855534 -0.004696428 -0.005299985 -0.007855534 -0.004396438 -0.005499958 -0.007855534 0.01010352 -0.004999995 0.005943536 -0.008747875 -0.004999995 -0.004578292 -0.006461203 -0.004999995 -0.004056394 -0.006044983 -0.004999995 -0.004056394 -0.008747875 -0.004999995 0.005943536 -0.006044983 -0.004999995 -0.004578292 -0.008331656 -0.004999995 -0.00486797 -0.007730185 -0.004999995 -0.00486797 -0.007062673 -0.004999995 0.005421638 -0.008331656 -0.004999995 0.005132019 -0.007730185 -0.004999995 0.005132019 -0.007062673 -0.004999995 0.005421638 -0.006461203 -0.004999995 0.005943536 0.008954942 -0.004999995 -0.004056394 0.00625205 -0.004999995 -0.004578292 0.006668269 -0.004999995 -0.00486797 0.00726974 -0.004999995 -0.00486797 0.007937312 -0.004999995 -0.004578292 0.008538722 -0.004999995 0.005943536 0.00625205 -0.004999995 0.005421638 0.006668269 -0.004999995 0.005132019 0.00726974 -0.004999995 -0.004056394 0.008954942 -0.004999995 0.005421638 0.008538722 -0.004999995 0.005132019 0.007937312 -0.005270481 0.006060957 -0.008504152 -0.005270481 0.005990326 -0.008447825 -0.005270481 0.005633115 -0.008163034 -0.005270481 0.005554258 -0.0079993 -0.005270481 0.00539571 -0.007670044 -0.005270481 0.00539571 -0.007396399 -0.005270481 0.00539571 -0.007122814 -0.005270481 0.005554258 -0.006793558 -0.005270481 0.006060957 -0.006288707 -0.005270481 0.005990326 -0.006345033 -0.005270481 0.005633115 -0.006629824 -0.005270481 -0.003939032 -0.008504152 -0.005270481 -0.004009664 -0.008447825 -0.005270481 -0.004366815 -0.008163034 -0.005270481 -0.004445672 -0.0079993 -0.005270481 -0.00460422 -0.007670044 -0.005270481 -0.00460422 -0.007396399 -0.005270481 -0.00460422 -0.007122814 -0.005270481 -0.004445672 -0.006793558 -0.005270481 -0.003939032 -0.006288707 -0.005270481 -0.004009664 -0.006345033 -0.005270481 -0.004366815 -0.006629824 -0.005270481 0.006060957 0.006495773 -0.005270481 0.005990326 0.0065521 -0.005270481 0.005633115 0.00683695 -0.005270481 0.005554258 0.007000625 -0.005270481 0.00539571 0.00732994 -0.005270481 0.00539571 0.007603526 -0.005270481 0.00539571 0.007877111 -0.005270481 0.005554258 0.008206367 -0.005270481 0.006060957 0.008711278 -0.005270481 0.005990326 0.008654952 -0.005270481 0.005633115 0.008370101 -0.005270481 -0.003939032 0.006495773 -0.005270481 -0.004009664 0.0065521 -0.005270481 -0.004366815 0.00683695 -0.005270481 -0.004445672 0.007000625 -0.005270481 -0.00460422 0.00732994 -0.005270481 -0.00460422 0.007603526 -0.005270481 -0.00460422 0.007877111 -0.005270481 -0.004445672 0.008206367 -0.005270481 -0.003939032 0.008711278 -0.005270481 -0.004009664 0.008654952 -0.005270481 -0.004366815 0.008370101 -0.007999956 0.005979657 -0.006331622 -0.007999956 0.005529582 -0.006781697 -0.007999956 0.005364894 -0.007396399 -0.007999956 0.005529582 -0.008011162 -0.007999956 0.005979657 -0.008461177 -0.007999956 -0.004020333 -0.006331622 -0.007999956 -0.004470348 -0.006781697 -0.007999956 -0.004635035 -0.007396399 -0.007999956 -0.004470348 -0.008011162 -0.007999956 -0.004020333 -0.008461177 -0.007999956 0.005979657 0.008668303 -0.007999956 0.005529582 0.008218288 -0.007999956 0.005364894 0.007603526 -0.007999956 0.005529582 0.006988763 -0.007999956 0.005979657 0.006538748 -0.007999956 -0.004020333 0.008668303 -0.007999956 -0.004470348 0.008218288 -0.007999956 -0.004635035 0.007603526 -0.007999956 -0.004470348 0.006988763 -0.007999956 -0.004020333 0.006538748 -0.005999982 0.003394365 0.01739346 -0.01499998 0.003394365 0.01739346 -0.005999982 0.003729343 0.01864349 -0.01499998 0.003729343 0.01864349 -0.005999982 0.004644393 0.01955854 -0.01499998 0.004644393 0.01955854 -0.005999982 0.005894362 0.01989346 -0.01499998 0.005894362 0.01989346 -0.005999982 0.007144391 0.01955854 -0.01499998 0.007144391 0.01955854 -0.005999982 0.008059442 0.01864349 -0.01499998 0.008059442 0.01864349 -0.005999982 0.00839436 0.01739346 -0.01499998 0.00839436 0.01739346 -0.005999982 -0.008605539 0.01760351 -0.01499998 -0.008605539 0.01760351 -0.005999982 -0.008270621 0.01885348 -0.01499998 -0.008270621 0.01885348 -0.005999982 -0.00735557 0.01976853 -0.01499998 -0.00735557 0.01976853 -0.005999982 -0.006105542 0.02010351 -0.01499998 -0.006105542 0.02010351 -0.005999982 -0.004855573 0.01976853 -0.01499998 -0.004855573 0.01976853 -0.005999982 -0.003940463 0.01885348 -0.01499998 -0.003940463 0.01885348 -0.005999982 -0.003605544 0.01760351 -0.01499998 -0.003605544 0.01760351 -0.004999995 -0.001805543 -0.007396399 -0.003199994 -0.001805543 -0.007396399 -0.004999995 -0.002019882 -0.006596446 -0.003199994 -0.002019882 -0.006596446 -0.004999995 -0.002605557 -0.00601077 -0.003199994 -0.002605557 -0.00601077 -0.004999995 -0.00340557 -0.005796432 -0.003199994 -0.00340557 -0.005796432 -0.004999995 -0.004205524 -0.00601077 -0.003199994 -0.004205524 -0.00601077 -0.004999995 -0.0047912 -0.006596446 -0.003199994 -0.0047912 -0.006596446 -0.004999995 -0.005005538 -0.007396399 -0.003199994 -0.005005538 -0.007396399 -0.004999995 0.008194386 -0.007396399 -0.003199994 0.008194386 -0.007396399 -0.004999995 0.007980048 -0.006596446 -0.003199994 0.007980048 -0.006596446 -0.004999995 0.007394373 -0.00601077 -0.003199994 0.007394373 -0.00601077 -0.004999995 0.006594359 -0.005796432 -0.003199994 0.006594359 -0.005796432 -0.004999995 0.005794405 -0.00601077 -0.003199994 0.005794405 -0.00601077 -0.004999995 0.00520873 -0.006596446 -0.003199994 0.00520873 -0.006596446 -0.004999995 0.004994392 -0.007396399 -0.003199994 0.004994392 -0.007396399 -0.004999995 -0.001805543 0.007603526 -0.003199994 -0.001805543 0.007603526 -0.004999995 -0.002019882 0.008403539 -0.003199994 -0.002019882 0.008403539 -0.004999995 -0.002605557 0.008989155 -0.003199994 -0.002605557 0.008989155 -0.004999995 -0.00340557 0.009203493 -0.003199994 -0.00340557 0.009203493 -0.004999995 -0.004205524 0.008989155 -0.003199994 -0.004205524 0.008989155 -0.004999995 -0.0047912 0.008403539 -0.003199994 -0.0047912 0.008403539 -0.004999995 -0.005005538 0.007603526 -0.003199994 -0.005005538 0.007603526 -0.003199994 -4.05582e-4 0.007603526 0 -4.05582e-4 0.007603526 -0.003199994 -8.07506e-4 0.009103536 0 -8.07506e-4 0.009103536 -0.003199994 -0.00190556 0.01020157 0 -0.00190556 0.01020157 -0.003199994 -0.00340557 0.01060354 0 -0.00340557 0.01060354 -0.003199994 -0.004905581 0.01020157 0 -0.004905581 0.01020157 -0.003199994 -0.006003618 0.009103536 0 -0.006003618 0.009103536 -0.003199994 -0.006405532 0.007603526 0 -0.006405532 0.007603526 -0.003199994 -4.05582e-4 -0.007396399 0 -4.05582e-4 -0.007396399 -0.003199994 -8.07506e-4 -0.005896449 0 -8.07506e-4 -0.005896449 -0.003199994 -0.00190556 -0.004798352 0 -0.00190556 -0.004798352 -0.003199994 -0.00340557 -0.004396438 0 -0.00340557 -0.004396438 -0.003199994 -0.004905581 -0.004798352 0 -0.004905581 -0.004798352 -0.003199994 -0.006003618 -0.005896449 0 -0.006003618 -0.005896449 -0.003199994 -0.006405532 -0.007396399 0 -0.006405532 -0.007396399 -0.003199994 0.00959438 -0.007396399 0 0.00959438 -0.007396399 -0.003199994 0.009192466 -0.005896449 0 0.009192466 -0.005896449 -0.003199994 0.00809437 -0.004798352 0 0.00809437 -0.004798352 -0.003199994 0.006594359 -0.004396438 0 0.006594359 -0.004396438 -0.003199994 0.005094408 -0.004798352 0 0.005094408 -0.004798352 -0.003199994 0.003996312 -0.005896449 0 0.003996312 -0.005896449 -0.003199994 0.003594398 -0.007396399 0 0.003594398 -0.007396399 0.05599999 0.0244944 0.007967114 0.05599999 0.0244944 -0.01036071 0.01599997 0.01834893 0.01560348 10e-4 0.01604437 -0.03039646 10e-4 0.01604437 0.03060346 0.07099997 0.0244944 -0.004896461 0.07099997 0.02299439 -0.004896461 0.03599995 0.0115444 -0.01764649 9.99999e-4 -0.005305528 -0.03039646 -0.004999995 0.01604437 0.02460348 -0.004999995 0.01604437 0.03060346 9.99999e-4 0.01604437 -0.03039646 -0.004999995 0.01604437 -0.01299643 -0.004999995 0.01604437 -0.03039646 -0.004999995 0.01604437 0.01060348 -0.01499998 0.01604437 0.01060348 -0.01499998 0.01604437 0.02460348 -0.004999995 0.01604437 -0.009996414 -0.01199996 0.01604437 -0.009996414 -0.01199996 0.01604437 -0.01299643 10e-4 -0.005305528 0.03060346 0.01599997 0.001915812 0.01560348 0.03599995 0.0115444 0.01178532 0.07099997 0.02299439 0.005103468 0.07099997 0.0244944 0.005103468 0 -0.005786955 -0.03039646 0 -0.006268441 -0.03039646 -0.004999995 -0.006268441 -0.03039646 0.03599995 0.0115444 -0.01445358 0.06641483 0.02149438 -0.00337392 0.06641483 0.02149438 0.00292468 0.03599995 0.0115444 0.008731126 0.03599995 0.0115444 0.01178532 0 -0.005786955 -0.02756786 0 -0.005786955 -0.03039646 -0.004999995 -0.006268441 0.03060346 0 -0.006268441 0.03060346 0 -0.005786955 0.03060346 -0.004999995 -0.01092624 0.02867418 -0.004999995 -0.008789241 0.03010207 -0.004999995 -0.01235413 0.02653717 -0.004999995 -0.01282936 0.02460348 -0.01499998 -0.01282936 0.02460348 -0.01499998 0.008059442 0.0161435 -0.01499998 -0.01285552 0.02401638 -0.01499998 -0.01285552 0.01060348 -0.01499998 -0.008270621 0.01635348 -0.01499998 -0.00735557 0.01543843 -0.01499998 0.003729343 0.0161435 -0.01499998 0.004644393 0.01522845 -0.01499998 0.005894362 0.01489347 -0.01499998 0.007144391 0.01522845 -0.01499998 -0.006105542 0.01510351 -0.01499998 -0.004855573 0.01543843 -0.01499998 -0.003940463 0.01635348 -0.004999995 -0.01285552 0.01060348 -0.004999995 -0.002019882 0.006803512 -0.004999995 -0.01285552 -0.009996414 -0.004999995 -0.0047912 -0.008196413 -0.004999995 -0.004205524 -0.008782088 -0.004999995 -0.00340557 -0.008996427 -0.004999995 -0.0047912 0.006803512 -0.004999995 -0.004205524 0.006217896 -0.004999995 -0.00340557 0.006003499 -0.004999995 -0.002605557 0.006217896 -0.004999995 -0.002605557 -0.008782088 -0.004999995 0.006594359 -0.008996427 -0.004999995 0.007394373 -0.008782088 -0.004999995 0.007980048 -0.008196413 -0.004999995 -0.002019882 -0.008196413 -0.004999995 0.00520873 -0.008196413 -0.004999995 0.005794405 -0.008782088 -0.01199996 -0.01285552 -0.009996414 -0.01199996 -0.01285552 -0.01299643 -0.004999995 -0.01285552 -0.01299643 -0.004999995 -0.01285552 -0.02380937 -0.004999995 -0.01235413 -0.02633011 -0.004999995 -0.01092624 -0.02846711 -0.004999995 -0.008789241 -0.02989506 0.01453107 0.001208662 0.01282972 0 -0.005786955 0.03060346 0 -0.005786955 0.02736085 0 -0.008789241 -0.02989506 0 -0.01092624 -0.02846711 0 -0.01235413 -0.02633011 0 -0.01285552 -0.02380937 0.01453107 0.01508808 0.01282972 0.03599995 0.0115444 0.008731126 0.05622911 0.02149438 0.004869222 0.05622911 0.02149438 -0.007084429 0 0.01285552 -0.02756786 0 -0.005786955 -0.02756786 0 0.006594359 -0.01039642 0 0.005094408 -0.009994506 0 -0.005786955 0.02736085 0 -0.005786955 0.03060346 0 -0.01235413 0.02653717 0 -0.01285552 0.02401638 0 -0.01092624 0.02867418 0 -0.008789241 0.03010207 0 -0.004905581 -0.009994506 0 -0.006003618 -0.00889641 0 -0.004905581 0.005005419 0 -0.006003618 0.006103515 0 0.003996312 -0.00889641 0 -8.07506e-4 -0.00889641 0 -0.00190556 -0.009994506 0 -0.00340557 -0.01039642 0 0.01285552 0.02736085 0 0.009192466 -0.00889641 0 0.00809437 -0.009994506 0 -8.07506e-4 0.006103515 0 -0.00340557 0.004603505 0 -0.00190556 0.005005419 -0.005999982 0.008059442 0.0161435 -0.005999982 0.007144391 0.01522845 -0.005999982 0.005894362 0.01489347 -0.005999982 0.004644393 0.01522845 -0.005999982 0.003729343 0.0161435 -0.005999982 -0.003940463 0.01635348 -0.005999982 -0.004855573 0.01543843 -0.005999982 -0.006105542 0.01510351 -0.005999982 -0.00735557 0.01543843 -0.005999982 -0.008270621 0.01635348 -0.003199994 -0.0047912 -0.008196413 -0.003199994 -0.004205524 -0.008782088 -0.003199994 -0.00340557 -0.008996427 -0.003199994 -0.002605557 -0.008782088 -0.003199994 -0.002019882 -0.008196413 -0.003199994 0.00520873 -0.008196413 -0.003199994 0.005794405 -0.008782088 -0.003199994 0.006594359 -0.008996427 -0.003199994 0.007394373 -0.008782088 -0.003199994 0.007980048 -0.008196413 -0.003199994 -0.0047912 0.006803512 -0.003199994 -0.004205524 0.006217896 -0.003199994 -0.00340557 0.006003499 -0.003199994 -0.002605557 0.006217896 -0.003199994 -0.002019882 0.006803512 0 0.01285552 0.02736085 0 -0.005786955 0.02736085 -0.003199994 -0.006003618 0.006103515 -0.003199994 -0.004905581 0.005005419 -0.003199994 -0.00340557 0.004603505 -0.003199994 -0.00190556 0.005005419 -0.003199994 -8.07506e-4 0.006103515 -0.003199994 -0.006003618 -0.00889641 -0.003199994 -0.004905581 -0.009994506 -0.003199994 -0.00340557 -0.01039642 -0.003199994 -0.00190556 -0.009994506 -0.003199994 -8.07506e-4 -0.00889641 -0.003199994 0.003996312 -0.00889641 -0.003199994 0.005094408 -0.009994506 -0.003199994 0.006594359 -0.01039642 -0.003199994 0.00809437 -0.009994506 -0.003199994 0.009192466 -0.00889641</float_array>
|
| 57 |
-
<technique_common>
|
| 58 |
-
<accessor source="#link8-mesh-positions-array" count="660" stride="3">
|
| 59 |
-
<param name="X" type="float"/>
|
| 60 |
-
<param name="Y" type="float"/>
|
| 61 |
-
<param name="Z" type="float"/>
|
| 62 |
-
</accessor>
|
| 63 |
-
</technique_common>
|
| 64 |
-
</source>
|
| 65 |
-
<source id="link8-mesh-normals">
|
| 66 |
-
<float_array id="link8-mesh-normals-array" count="1980">-1.11366e-6 0.7702597 -0.6377304 1.05592e-6 0.6532238 -0.757165 0.3188642 0.7702598 -0.5522911 0.3785824 0.6532274 -0.6557205 0.5522925 0.7702575 -0.3188673 0.6557337 0.6532118 -0.3785865 0.63773 0.77026 -1.01411e-6 0.7571645 0.6532242 1.2567e-6 0.5522937 0.7702574 0.3188656 0.6557515 0.6531862 0.3786 0.3188652 0.7702612 0.5522885 0.3785863 0.653211 0.6557345 9.77047e-7 0.7702599 0.6377301 -1.42773e-6 0.6532243 0.7571645 -1.1117e-6 -0.7702597 0.6377304 1.08567e-6 -0.6532246 0.7571643 0.3188642 -0.7702598 0.5522911 0.3785824 -0.6532273 0.6557205 0.5522927 -0.7702575 0.3188675 0.6557337 -0.6532118 0.3785865 0.63773 -0.77026 1.07726e-6 0.7571645 -0.6532242 -1.24183e-6 0.5522935 -0.7702575 -0.3188656 0.6557515 -0.6531862 -0.3786001 0.3188652 -0.7702612 -0.5522885 0.3785865 -0.6532114 -0.6557341 9.77047e-7 -0.77026 -0.6377301 -1.39056e-6 -0.6532288 -0.7571607 0.942506 -0.1449962 -0.3010961 0.9425033 6.63983e-7 -0.3341969 0.4032959 4.48175e-7 -0.9150696 0.4021089 -0.3963302 -0.8253671 0.3739075 -0.5782667 -0.7251212 0.9425041 -0.261282 -0.2083691 0.4001374 -0.716117 -0.5718973 0.3721637 -0.83625 -0.4027162 0.9425029 -0.3258188 -0.07436776 0.3991518 -0.8938487 -0.2042361 0.9425064 -0.3258093 0.07436496 0.3715744 -0.9284033 0 0.3991513 -0.893849 0.2042359 0.942505 -0.2612801 0.2083679 0.372159 -0.8362512 0.4027178 0.4032963 -5.92588e-7 0.9150695 0.9425026 -6.74087e-7 0.334199 0.4021072 -0.3963308 0.8253676 0.9425079 -0.1449937 0.3010908 0.3739072 -0.578267 0.7251212 0.4001378 -0.7161169 0.5718971 0.9425079 -0.1449939 -0.301091 0.9425032 6.19803e-7 -0.3341972 0.4032964 5.07932e-7 -0.9150695 0.4021077 -0.3963315 -0.8253672 0.3739064 -0.5782678 -0.725121 0.9425023 -0.2612864 -0.2083721 0.4001378 -0.7161167 -0.5718975 0.3721635 -0.8362499 -0.4027164 0.9425035 -0.325817 -0.0743674 0.3991498 -0.8938493 -0.2042377 0.9425055 -0.3258119 0.07436555 0.3715722 -0.9284041 0 0.3991512 -0.893849 0.2042363 0.9425027 -0.2612853 0.2083716 0.3721601 -0.8362507 0.402718 0.4032962 -6.17486e-7 0.9150695 0.9425023 -7.24581e-7 0.3341997 0.4021063 -0.396332 0.8253676 0.9425082 -0.1449935 0.3010902 0.373906 -0.5782681 0.725121 0.4001379 -0.7161167 0.5718973 0.9425075 -0.1449943 -0.301092 0.9425026 5.65526e-7 -0.334199 0.4032961 5.02953e-7 -0.9150695 0.4021084 -0.3963301 -0.8253674 0.3739076 -0.5782668 -0.7251211 0.9425048 -0.2612804 -0.2083681 0.4001379 -0.7161169 -0.5718972 0.372163 -0.8362501 -0.4027165 0.9425039 -0.3258157 -0.07436716 0.3991511 -0.8938491 -0.204236 0.9425045 -0.3258143 0.07436615 0.371575 -0.928403 0 0.3991506 -0.8938493 0.204236 0.9425044 -0.2612814 0.2083687 0.3721595 -0.8362512 0.4027176 0.4032965 -6.12507e-7 0.9150695 0.9425035 -7.87691e-7 0.3341963 0.4021083 -0.3963309 0.825367 0.9425063 -0.1449962 0.3010949 0.3739076 -0.5782669 0.725121 0.4001376 -0.716117 0.5718972 0.9425064 -0.1449955 -0.3010945 0.9425024 6.12233e-7 -0.3341996 0.4032965 5.5773e-7 -0.9150694 0.4021072 -0.3963313 -0.8253673 0.3739066 -0.5782678 -0.7251209 0.9425038 -0.2612829 -0.2083695 0.4001388 -0.7161164 -0.5718972 0.3721634 -0.8362498 -0.4027167 0.9425036 -0.3258169 -0.0743674 0.3991495 -0.8938494 -0.2042374 0.9425054 -0.3258121 0.07436555 0.3715728 -0.9284039 0 0.3991503 -0.8938493 0.2042365 0.9425024 -0.2612859 0.2083721 0.3721609 -0.8362504 0.4027176 0.4032964 -6.17486e-7 0.9150695 0.9425032 -8.23037e-7 0.3341971 0.4021067 -0.3963322 0.8253672 0.9425085 -0.1449936 0.3010894 0.3739065 -0.5782679 0.7251209 0.4001377 -0.7161167 0.5718974 0.6557124 -1.2633e-7 0.7550108 0.6565619 -0.3761219 0.6538035 0.6578346 -0.6519686 0.3770819 0.6582428 -0.7528058 0 0.6578127 -0.6519849 -0.3770918 0.6565695 -0.3761193 -0.6537973 0.6557121 0 -0.7550112 0.6556927 -2.96246e-7 0.7550279 0.6565719 -0.3761175 0.6537959 0.6578226 -0.6519771 0.377088 0.6582549 -0.7527952 0 0.6578201 -0.6519788 -0.3770894 0.6565721 -0.3761179 -0.6537954 0.6556924 -3.24837e-7 -0.7550282 0.6557123 0 0.7550109 0.656562 -0.3761226 0.6538029 0.6578345 -0.6519684 0.3770822 0.6582429 -0.7528057 0 0.6578128 -0.6519851 -0.3770914 0.6565693 -0.3761191 -0.6537976 0.6556869 3.3594e-7 -0.7550331 0.6556925 -2.00998e-7 0.7550282 0.6565723 -0.3761173 0.6537956 0.6578224 -0.651977 0.3770883 0.6582548 -0.7527952 0 0.6578202 -0.6519789 -0.377089 0.6565719 -0.3761174 -0.6537959 0.6556926 -2.51808e-7 -0.755028 -0.5491439 -0.8041774 -0.2274641 -0.549138 0.8041806 -0.2274666 -0.5491381 -0.8041808 0.2274661 -0.5491437 0.8041774 0.2274643 -0.7279862 0.6788597 0.09584188 -0.6557211 0.653221 0.3785926 -0.3785865 0.6532133 0.6557323 -0.2980753 0.8739414 -0.3838979 -0.5773625 0.5773464 -0.5773419 0.2971158 0.6302402 0.7173002 -0.09583878 0.6788629 0.7279835 -0.2980716 0.8739437 0.3838955 -0.6625878 0.6553553 0.3626111 0.2980777 0.8739392 0.383901 -0.5585646 0.799692 0.2202232 0.7173006 0.6302401 -0.2971151 -0.2274587 0.8041818 0.5491396 0.2971073 0.6302495 -0.7172955 -0.09584051 0.6788688 -0.7279779 -0.3785851 0.6532167 -0.6557296 0.662585 0.6553592 0.3626094 0.5585667 0.7996892 0.2202286 0.7279834 0.6788634 0.09583741 -0.7279788 0.6788678 0.09584009 -0.5773708 0.57734 0.5773401 -0.7279866 0.6788598 -0.09583741 -0.6557203 0.653229 -0.37858 -0.662585 0.6553592 -0.3626094 -0.5585667 0.7996891 -0.2202285 0.5585646 0.7996921 -0.2202232 -0.7279838 0.6788623 -0.09584164 0.7279787 0.6788687 -0.09583491 -0.2274584 0.804189 -0.5491291 0.2980717 0.8739441 -0.3838948 0.662588 0.6553555 -0.3626105 0.3785775 0.6532279 0.6557229 0.6557313 0.6532138 0.3785872 0.09584021 0.6788567 0.7279893 -0.09584087 0.6788763 0.7279708 -0.3785882 0.6532138 0.6557307 -0.6557164 0.6532225 0.3785977 -0.3785798 0.6532273 -0.6557222 -0.6557283 0.6532136 -0.3785927 -0.09584015 0.6788562 -0.7279897 0.09584087 0.6788763 -0.7279708 0.3785864 0.6532152 -0.6557304 0.6557232 0.6532263 -0.3785799 -0.3188643 0.7702602 0.5522907 -0.5522835 0.7702664 0.3188619 -0.6377354 0.7702557 1.04595e-6 0.7172824 0.6302608 0.2971152 -0.3188685 0.7702562 -0.5522937 -0.5522844 0.7702662 -0.3188602 -0.2274603 -0.8041856 0.5491332 -0.2980754 -0.8739415 0.3838977 -0.5773485 -0.5773461 0.5773563 -0.7279891 -0.6788566 -0.09584212 -0.2980714 -0.873943 -0.3838972 -0.6625869 -0.6553545 -0.3626141 0.2980778 -0.8739393 -0.3839007 -0.5585646 -0.799692 -0.2202236 0.2980713 -0.8739438 0.3838957 0.6625872 -0.6553548 0.3626132 0.5585646 -0.799692 0.2202236 0.662585 -0.6553592 -0.3626094 0.5585671 -0.7996897 -0.2202256 0.7279834 -0.6788633 -0.09583723 -0.7279788 -0.6788678 -0.09584105 -0.5773519 -0.5773494 -0.5773495 -0.7279865 -0.6788597 0.09584093 -0.6557205 -0.6532292 0.3785793 -0.3785874 -0.6532173 0.6557277 -0.6557201 -0.6532279 -0.3785822 -0.3785786 -0.6532202 -0.6557298 -0.09583932 -0.6788704 -0.7279766 -0.662585 -0.6553592 0.3626094 -0.5585671 -0.7996897 0.2202256 -0.7279836 -0.6788624 0.09584242 0.7279784 -0.6788685 0.09583842 0.3785775 -0.6532279 -0.6557229 0.6557332 -0.6532156 -0.3785809 0.09584027 -0.678857 -0.727989 -0.09584009 -0.6788709 -0.727976 -0.378589 -0.6532153 -0.6557288 -0.6557251 -0.6532311 -0.3785681 0.7172918 -0.6302483 0.2971191 -0.3188642 -0.7702599 -0.5522912 0.2971077 -0.6302476 -0.7172971 -0.3188683 -0.7702561 0.552294 0.7172912 -0.6302525 -0.2971115 -0.5522834 -0.7702662 -0.3188623 -0.6377354 -0.7702557 -1.05221e-6 -0.5522844 -0.7702662 0.3188604 -0.3785798 -0.6532273 0.6557222 -0.6557299 -0.6532152 0.3785873 -0.09584021 -0.6788566 0.7279893 0.09584009 -0.6788709 0.727976 0.3785865 -0.6532155 0.65573 0.6557248 -0.653228 0.3785739 -0.2274587 -0.8041818 -0.5491396 0.2971107 -0.6302567 0.7172878 -0.09584146 -0.6788623 0.7279838 -0.9970013 0.04189115 -0.06506562 -0.9970014 -0.04189133 -0.06506478 -0.7172932 -0.6302496 -0.2971129 -0.7172946 0.6302464 -0.2971162 -0.9970014 0.04189145 0.06506496 -0.9970013 -0.04189097 0.06506538 -0.7172945 -0.6302462 0.2971167 -0.7172936 0.63025 0.2971109 0.227459 0.8041782 0.5491448 -0.08812499 0.7376931 0.6693601 0.5491274 0.8041894 -0.2274615 0.5491291 0.8041897 0.2274563 -0.0881201 0.737699 -0.6693543 0.2274569 0.8041911 -0.5491267 -0.3785879 0.653214 0.6557306 -0.655717 0.6532343 0.3785768 -0.7571666 0.6532219 0 -0.655732 0.6532122 -0.3785888 -0.3785791 0.6532204 -0.6557294 -0.08812081 -0.7377051 0.6693474 0.227455 -0.8041845 0.5491371 0.5491371 -0.8041831 0.2274599 0.5491194 -0.8041957 -0.2274584 0.2274603 -0.8041828 -0.5491375 -0.08812254 -0.7376868 -0.6693673 -0.3785881 -0.6532145 -0.6557301 -0.6557169 -0.6532342 -0.3785768 -0.7571666 -0.6532219 1.3402e-6 -0.6557322 -0.6532122 0.3785886 -0.3785814 -0.6532244 0.6557242 -0.5522921 0.7702577 -0.3188675 -0.3188649 0.7702576 -0.5522938 -0.2971167 0.6302624 -0.7172803 -0.2971081 -0.6302707 -0.7172766 -0.3188665 -0.7702566 -0.5522944 -0.5522926 -0.7702576 -0.3188671 -0.2971081 0.6302707 0.7172765 -0.2971166 -0.6302624 0.7172803 -0.3188684 0.7702571 0.5522926 -0.5522929 0.770258 0.3188655 -0.5522913 -0.7702578 0.3188688 -0.3188639 -0.7702572 0.5522948 0.2971081 0.6302694 0.7172777 0.7172726 0.6302705 0.297118 0.7172527 0.630297 -0.2971101 0.3015121 0.9045333 0.3015132 0.3014983 0.9045391 -0.3015096 0.2971068 0.6302945 0.7172562 0.7172641 0.6302798 0.2971187 0.7172731 0.6302684 -0.2971213 0.2971104 0.6302545 -0.7172899 0.2971106 0.6302641 -0.7172814 0.2971081 -0.6302692 -0.7172779 0.7172744 -0.6302689 -0.2971172 0.7172529 -0.6302966 0.2971104 0.3015121 -0.9045332 -0.3015135 0.3014983 -0.904539 0.3015095 0.2971066 -0.630294 -0.7172567 0.7172644 -0.6302795 -0.2971187 0.7172749 -0.6302669 0.2971206 0.2971104 -0.6302545 0.7172899 0.2971102 -0.6302633 0.7172821 0.9425069 0.144995 0.3010934 0.9425042 0.261282 -0.208369 0.9425066 0.1449959 -0.3010939 0.9425076 0.1449943 0.301092 0.9425081 0.1449943 -0.3010904 0.9425046 0.261281 0.2083684 0.9425033 0.3258177 0.07436656 0.942503 0.3258191 -0.07436537 0.9425027 0.2612853 0.2083719 0.9425035 0.3258169 0.07436746 0.9425056 0.3258116 -0.07436567 0.9425027 0.261285 -0.2083718 0.9425082 0.1449936 -0.3010901 0.9425059 0.1449962 0.3010959 0.9425041 0.2612825 0.2083692 0.9425022 0.3258209 0.07436722 0.9425048 0.3258139 -0.0743643 0.9425047 0.2612808 -0.2083682 0.9425075 0.1449943 0.301092 0.9425027 0.2612854 0.2083718 0.9425027 0.3258193 0.07436716 0.9425081 0.1449937 -0.3010905 0.9425026 0.2612854 -0.2083721 0.9425035 0.3258174 -0.07436513 0.4021065 0.3963328 0.825367 0.3739061 0.5782693 0.7251199 0.4001376 0.7161158 0.5718988 0.3721633 0.8362494 0.4027177 0.399151 0.8938491 0.2042363 0.3715741 0.9284034 0 0.3991505 0.8938493 -0.2042361 0.37216 0.8362507 -0.4027183 0.4021071 0.3963335 -0.8253664 0.3739064 0.5782694 -0.7251197 0.4001371 0.7161158 -0.571899 0.4021078 0.3963257 0.8253697 0.3739077 0.5782638 0.7251235 0.4001371 0.7161171 0.5718974 0.3721629 0.8362505 0.4027158 0.3991525 0.8938488 0.2042347 0.3715825 0.9283999 0 0.3991507 0.8938493 -0.2042354 0.372159 0.8362523 -0.4027158 0.4021075 0.3963265 -0.8253695 0.3739079 0.5782639 -0.7251234 0.4001361 0.7161174 -0.5718978 0.4021077 0.3963327 0.8253665 0.3739069 0.578269 0.7251198 0.4001374 0.7161158 0.5718988 0.3721637 0.8362494 0.4027173 0.399151 0.893849 0.2042363 0.3715817 0.9284003 0 0.3991512 0.893849 -0.2042359 0.3721594 0.8362507 -0.4027185 0.4021078 0.396333 -0.8253663 0.3739069 0.5782691 -0.7251196 0.4001372 0.7161159 -0.5718988 0.4021076 0.396326 0.8253697 0.3739078 0.5782637 0.7251236 0.4001366 0.7161173 0.5718975 0.3721629 0.8362506 0.4027154 0.3991515 0.8938491 0.2042351 0.3715829 0.9283998 0 0.3991517 0.893849 -0.2042353 0.3721581 0.8362525 -0.4027161 0.4021062 0.3963265 -0.8253702 0.3739073 0.5782639 -0.7251236 0.4001364 0.7161173 -0.5718978 0.656562 0.3761227 -0.6538029 0.6578345 0.651968 -0.3770829 0.658243 0.7528056 0 0.6578128 0.6519848 0.377092 0.6565694 0.3761193 0.6537974 0.6565722 0.3761171 -0.6537958 0.6578221 0.651978 -0.3770873 0.6582552 0.7527949 0 0.6578199 0.6519799 0.377088 0.656572 0.3761171 0.6537961 0.6565718 0.3761172 -0.6537961 0.6578223 0.6519774 -0.3770879 0.6582581 0.7527924 0 0.6578251 0.6519752 0.3770871 0.6565697 0.3761192 0.6537971 0.6565719 0.3761171 -0.6537961 0.6578223 0.6519781 -0.3770869 0.6582553 0.7527949 0 0.6578198 0.6519798 0.3770883 0.6565721 0.3761175 0.6537957 -0.653199 0.7571864 -4.45251e-7 -0.7702567 0.637734 3.75792e-7 -0.6532273 0.6557208 -0.3785821 -0.770256 0.5522947 -0.3188675 -0.6532146 0.3785858 -0.6557313 -0.7702636 0.3188629 -0.5522868 -0.6532298 -5.894e-7 -0.7571597 -0.770266 0 -0.6377227 -0.6532274 -0.3785812 -0.6557213 -0.770256 -0.3188672 -0.5522947 -0.653227 -0.6557214 -0.3785815 -0.7702637 -0.5522861 -0.3188633 -0.653199 -0.7571864 -1.93345e-7 -0.7702611 -0.6377288 1.56579e-7 -0.65323 0.7571597 7.01781e-7 -0.7702724 0.6377152 -3.69518e-7 -0.6532272 0.6557219 -0.3785804 -0.7702655 0.5522847 -0.3188615 -0.6532267 0.3785806 -0.6557222 -0.7702643 0.3188619 -0.5522863 -0.6532154 -3.27193e-7 -0.7571721 -0.7702684 1.24698e-6 -0.6377199 -0.6532245 -0.378582 -0.6557237 -0.7702544 -0.3188677 -0.5522965 -0.653237 -0.6557146 -0.3785762 -0.7702628 -0.5522876 -0.318863 -0.6532298 -0.7571597 1.78466e-7 -0.7702533 -0.6377381 0 -0.7702627 -0.6377269 -3.44792e-6 0.7702735 -0.6377137 3.51988e-6 -0.770277 -0.5522711 -0.3188576 0.7702738 -0.5522779 -0.3188534 -0.7702594 -0.3188624 -0.5522927 0.7702737 -0.3188595 -0.5522744 -0.7702682 3.2836e-6 -0.6377202 0.7702736 -3.3195e-6 -0.6377136 -0.7702664 0.3188641 -0.552282 0.7702736 0.318854 -0.5522778 -0.7702696 0.5522822 -0.3188561 0.7702736 0.5522745 -0.3188598 -0.7702718 0.6377157 3.79547e-6 0.7702738 0.6377134 -3.68898e-6 -0.7702792 -0.6377068 -3.43685e-6 0.770274 -0.637713 3.51987e-6 -0.7702592 -0.5522893 -0.3188688 0.7702735 -0.5522781 -0.3188541 -0.7702736 -0.3188506 -0.5522798 0.7702738 -0.3188598 -0.5522742 -0.7702611 3.57437e-6 -0.6377286 0.7702737 -3.23182e-6 -0.6377136 -0.770272 0.3188598 -0.5522767 0.7702735 0.318854 -0.5522781 -0.7702613 0.5522908 -0.3188612 0.7702739 0.5522742 -0.3188597 -0.7702652 0.6377237 3.53246e-6 0.7702735 0.6377137 -3.42593e-6 -0.7702677 -0.6377207 -3.49173e-6 0.7702735 -0.6377138 3.46977e-6 -0.7702689 -0.5522794 -0.3188626 0.7702739 -0.5522776 -0.3188536 -0.7702745 -0.3188529 -0.5522773 0.7702737 -0.3188592 -0.5522747 -0.7702658 3.57323e-6 -0.637723 0.7702735 -3.26847e-6 -0.6377137 -0.7702704 0.3188613 -0.5522781 0.7702736 0.3188536 -0.5522781 -0.7702695 0.5522822 -0.3188564 0.7702739 0.552274 -0.31886 -0.7702706 0.6377173 3.76416e-6 0.7702738 0.6377134 -3.72656e-6 0.6532331 -0.7571568 -3.66604e-6 0.7702775 -0.6377089 2.88101e-6 0.6532332 -0.6557152 -0.3785817 0.7702676 -0.552284 -0.318858 0.6532334 -0.3785756 -0.6557186 0.7702665 -0.3188639 -0.5522819 0.653233 3.60285e-6 -0.757157 0.7702646 -2.92492e-6 -0.6377246 0.6532334 0.3785815 -0.6557151 0.7702679 0.3188579 -0.5522835 0.6532332 0.6557186 -0.3785756 0.7702603 0.5522887 -0.3188674 0.6532332 0.7571568 3.25705e-6 0.7702708 0.637717 -2.93115e-6 0.6532331 -0.7571569 -3.52661e-6 0.7702696 -0.6377185 2.96873e-6 0.6532332 -0.6557153 -0.3785816 0.7702603 -0.5522916 -0.3188623 0.6532333 -0.3785755 -0.6557187 0.770271 -0.3188611 -0.5522775 0.6532331 3.58543e-6 -0.757157 0.7702618 -2.9312e-6 -0.6377279 0.6532334 0.3785815 -0.6557152 0.7702571 0.3188642 -0.552295 0.6532331 0.6557188 -0.3785755 0.7702677 0.5522809 -0.3188629 0.6532332 0.7571568 3.38346e-6 0.7702671 0.6377214 -2.84975e-6 0.6532332 -0.7571568 -3.37974e-6 0.7702656 -0.6377233 2.84976e-6 0.6532331 -0.6557155 -0.3785812 0.7702728 -0.5522785 -0.3188547 0.6532332 -0.3785755 -0.6557188 0.7702691 -0.3188621 -0.5522794 0.6532331 3.65236e-6 -0.7571569 0.7702617 -2.92494e-6 -0.637728 0.6532333 0.3785817 -0.6557151 0.7702711 0.3188559 -0.5522803 0.6532332 0.6557189 -0.3785754 0.7702581 0.552291 -0.3188686 0.6532333 0.7571569 3.46526e-6 0.7702694 0.6377186 -2.92489e-6 0.06848382 0.7261331 0.684135 0.1724106 0.7306459 -0.6606294 0.1696476 0.7929442 0.5852003 0.195022 0.5894134 -0.7839377 0.2823703 0.6225939 0.7298246 0.6566209 0.5979831 -0.4596362 0.7433669 -0.4800375 -0.4658 0.483182 -0.5986281 -0.6388893 0.3742319 -0.5888228 -0.7164065 -0.3015009 0.904542 0.3014981 -0.5773566 0.5773566 0.5773376 0 0.707082 -0.7071316 -0.3015035 0.9045338 -0.3015198 -0.5773567 0.5773566 -0.5773376 -0.3014984 0.9045388 -0.3015103 -0.5773427 0.5773693 -0.5773389 -0.577313 0.5773763 0.5773616 -0.3014894 0.9045407 0.3015136 -0.5773663 0.5773395 0.5773451 -0.5773615 0.5773553 -0.5773341 0.4691405 -0.5292693 0.7069521 0.6067632 -0.6406398 0.470552 0.1875225 0 0.9822604 0.7044132 -0.4748157 0.5275908 0.6233242 0.5879321 0.5155607 0.3456961 0 -0.9383466 0.6856928 -0.07134574 -0.724386 -0.6856994 -0.07134383 -0.7243801 0.004046499 -0.6914676 0.7223962 0.2025734 -0.9782298 0.04506063 0.2170869 -0.9749186 -0.04906392 0.3663275 -0.930486 0 0.3800344 -0.9249724 0 0.4337772 -0.9010202 0 0.4337775 -0.9010201 0 -0.6856809 -0.0713464 0.7243973 0.6857099 -0.07134318 0.7243702 0 0 1 -0.6657284 -0.5276404 0.5276376 -0.6657159 -0.2855622 0.6894031 -0.667241 -0.6836213 0.2957217 -0.244868 -0.8833227 0.3997258 -0.5797416 -0.5631681 0.5888476 -0.7702649 -0.5522853 0.3188623 -0.702109 -0.7118924 0.01588672 -0.577286 -0.5773977 -0.5773673 -0.7702642 0.552286 0.3188624 -0.7702658 0.3188613 0.5522845 -0.7702564 0.5522939 0.3188677 -0.7702608 0.3188642 0.5522897 -0.7702623 -2.81841e-7 0.6377274 -0.7702555 -0.3188681 0.5522952 -0.7702693 0 0.6377189 -0.7702633 -0.3188633 0.5522868 -0.7702516 -0.5522993 0.3188699 -0.3014931 -0.9045446 -0.3014981 -0.7702625 -0.5522896 0.3188605 -0.3014905 -0.9045423 0.3015077 -0.7702716 0.5522764 0.3188611 -0.7702726 0.3188546 0.552279 -0.7702646 -3.34457e-6 0.6377244 -0.7702775 0.5522703 0.3188577 -0.770259 0.3188632 0.5522928 -0.7702686 -3.05643e-6 0.6377196 -0.7702625 -0.3188668 0.5522861 -0.770272 -0.3188608 0.5522761 -0.7702633 -3.26315e-6 0.6377261 -0.7702726 -0.3188607 0.5522753 -0.7702714 -0.5522801 0.3188554 -0.7702583 -0.5522941 0.3188629 -0.7702617 0.5522869 0.3188672 -0.7702757 0.3188526 0.5522758 -0.5773544 -0.5773482 0.5773482 -0.5773592 -0.5773324 -0.5773592 -0.3015124 -0.9045372 -0.3015013 -0.6856899 -0.7243888 -0.07134598 -0.6657284 -0.6893928 -0.285558 -0.6657186 -0.5276437 -0.5276467 -0.6657361 -0.2855516 -0.689388 -0.1280236 -0.682163 -0.7199053 0.4337773 -0.9010201 0 0.4337772 -0.9010202 0 0.6657284 -0.2855579 -0.6893928 0.665726 -0.5276419 -0.5276391 0.6657361 -0.689388 -0.2855516 0.6857139 -0.7243661 -0.07134592 -0.169646 -0.7929439 -0.5852011 -0.1875225 0 -0.9822603 -0.06848311 -0.726132 -0.6841362 -0.172411 -0.7306479 0.6606272 0.5021497 -0.5196867 0.6912102 0.9703134 0 0.2418509 0.7702601 3.12537e-6 0.6377299 0.7702734 0.3188596 0.552275 1 0 0 1 0 0 0.6657232 -0.6893979 0.2855578 0.6867011 -0.7234771 0.07087004 0.6657198 -0.527643 0.5276459 0.6657285 -0.2855541 0.6893942 0.7702713 0.3188606 0.5522772 0.7702602 0.5522916 0.3188624 0.7702616 0.3188665 0.5522874 0.770274 0.5522773 0.3188542 0.7702601 0.5522919 0.3188624 0.7702615 -0.5522873 0.3188667 0.7702636 -0.3188602 0.5522882 0.7702662 3.06896e-6 0.6377224 0.907613 -0.4198079 0 0.7702695 -0.5522792 0.3188617 0.7702726 -0.3188548 0.5522789 0.7702558 -0.5522935 0.3188703 0.7702626 3.06899e-6 0.637727 0.7702695 -0.3188567 0.5522821 -0.6532274 -0.6557211 0.3785814 -0.6532146 -0.3785865 0.6557309 -0.65323 3.44007e-7 0.7571597 -0.6532272 0.3785814 0.6557213 -0.6532272 0.6557217 0.3785807 -0.6532145 -0.655731 0.3785866 -0.6532272 -0.3785809 0.6557216 -0.6531762 3.75006e-7 0.757206 -0.6532272 0.3785815 0.6557213 -0.6532145 0.655731 0.3785868 0.7702736 0.5522779 0.3188536 0.7702736 0.3188599 0.5522744 0.7702738 3.8854e-6 0.6377134 0.7702738 -0.3188534 0.5522779 0.7702739 -0.5522744 0.3188596 0.7702738 0.5522776 0.3188537 0.7702735 0.3188599 0.5522747 0.7702739 3.89792e-6 0.6377133 0.7702739 -0.3188537 0.5522776 0.7702734 -0.5522745 0.3188603 0.7702737 0.5522777 0.3188537 0.7702733 0.3188599 0.5522747 0.770274 3.46889e-6 0.6377131 0.7702735 -0.318854 0.5522781 0.7702738 -0.5522742 0.3188596 -0.7071068 0 -0.7071067 -0.7071069 0 -0.7071067 0.6532331 0.6557154 0.3785814 0.6532333 0.3785751 0.6557189 0.6532332 -3.45413e-6 0.7571569 0.6532332 -0.3785814 0.6557154 0.6532331 -0.6557189 0.3785754 0.6532331 0.6557154 0.3785814 0.6532332 0.3785751 0.6557189 0.6532332 -3.45265e-6 0.7571569 0.6532332 -0.3785814 0.6557154 0.6532332 -0.6557188 0.3785755 0.6532331 0.6557154 0.3785814 0.6532332 0.3785753 0.6557189 0.6532333 -3.43034e-6 0.7571569 0.6532331 -0.3785813 0.6557154 0.6532331 -0.6557189 0.3785753</float_array>
|
| 67 |
-
<technique_common>
|
| 68 |
-
<accessor source="#link8-mesh-normals-array" count="660" stride="3">
|
| 69 |
-
<param name="X" type="float"/>
|
| 70 |
-
<param name="Y" type="float"/>
|
| 71 |
-
<param name="Z" type="float"/>
|
| 72 |
-
</accessor>
|
| 73 |
-
</technique_common>
|
| 74 |
-
</source>
|
| 75 |
-
<vertices id="link8-mesh-vertices">
|
| 76 |
-
<input semantic="POSITION" source="#link8-mesh-positions"/>
|
| 77 |
-
</vertices>
|
| 78 |
-
<triangles material="哑光漆_黑色__1-material" count="1304">
|
| 79 |
-
<input semantic="VERTEX" source="#link8-mesh-vertices" offset="0"/>
|
| 80 |
-
<input semantic="NORMAL" source="#link8-mesh-normals" offset="1"/>
|
| 81 |
-
<p>0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 10 10 9 9 11 11 10 10 11 11 12 12 12 12 11 11 13 13 14 14 15 15 16 16 16 16 15 15 17 17 16 16 17 17 18 18 18 18 17 17 19 19 18 18 19 19 20 20 20 20 19 19 21 21 20 20 21 21 22 22 22 22 21 21 23 23 22 22 23 23 24 24 24 24 23 23 25 25 24 24 25 25 26 26 26 26 25 25 27 27 28 28 29 29 30 30 30 30 31 31 28 28 28 28 31 31 32 32 28 28 32 32 33 33 32 32 34 34 33 33 33 33 34 34 35 35 33 33 35 35 36 36 36 36 35 35 37 37 36 36 37 37 38 38 37 37 39 39 38 38 38 38 39 39 40 40 38 38 40 40 41 41 41 41 40 40 42 42 43 43 44 44 45 45 45 45 44 44 46 46 45 45 46 46 47 47 47 47 46 46 41 41 47 47 41 41 48 48 48 48 41 41 42 42 49 49 50 50 51 51 51 51 52 52 49 49 49 49 52 52 53 53 49 49 53 53 54 54 53 53 55 55 54 54 54 54 55 55 56 56 54 54 56 56 57 57 57 57 56 56 58 58 57 57 58 58 59 59 58 58 60 60 59 59 59 59 60 60 61 61 59 59 61 61 62 62 62 62 61 61 63 63 64 64 65 65 66 66 66 66 65 65 67 67 66 66 67 67 68 68 68 68 67 67 62 62 68 68 62 62 69 69 69 69 62 62 63 63 70 70 71 71 72 72 72 72 73 73 70 70 70 70 73 73 74 74 70 70 74 74 75 75 74 74 76 76 75 75 75 75 76 76 77 77 75 75 77 77 78 78 78 78 77 77 79 79 78 78 79 79 80 80 79 79 81 81 80 80 80 80 81 81 82 82 80 80 82 82 83 83 83 83 82 82 84 84 85 85 86 86 87 87 87 87 86 86 88 88 87 87 88 88 89 89 89 89 88 88 83 83 89 89 83 83 90 90 90 90 83 83 84 84 91 91 92 92 93 93 93 93 94 94 91 91 91 91 94 94 95 95 91 91 95 95 96 96 95 95 97 97 96 96 96 96 97 97 98 98 96 96 98 98 99 99 99 99 98 98 100 100 99 99 100 100 101 101 100 100 102 102 101 101 101 101 102 102 103 103 101 101 103 103 104 104 104 104 103 103 105 105 106 106 107 107 108 108 108 108 107 107 109 109 108 108 109 109 110 110 110 110 109 109 104 104 110 110 104 104 111 111 111 111 104 104 105 105 43 43 45 45 112 112 112 112 45 45 113 113 45 45 47 47 113 113 113 113 47 47 48 48 113 113 48 48 114 114 48 48 42 42 114 114 114 114 42 42 40 40 114 114 40 40 115 115 40 40 39 39 115 115 115 115 39 39 37 37 115 115 37 37 116 116 37 37 35 35 116 116 116 116 35 35 34 34 116 116 34 34 117 117 30 30 118 118 31 31 31 31 118 118 117 117 31 31 117 117 32 32 32 32 117 117 34 34 64 64 66 66 119 119 119 119 66 66 120 120 66 66 68 68 120 120 120 120 68 68 69 69 120 120 69 69 121 121 69 69 63 63 121 121 121 121 63 63 61 61 121 121 61 61 122 122 61 61 60 60 122 122 122 122 60 60 58 58 122 122 58 58 123 123 58 58 56 56 123 123 123 123 56 56 55 55 123 123 55 55 124 124 51 51 125 125 52 52 52 52 125 125 124 124 52 52 124 124 53 53 53 53 124 124 55 55 85 85 87 87 126 126 126 126 87 87 127 127 87 87 89 89 127 127 127 127 89 89 90 90 127 127 90 90 128 128 90 90 84 84 128 128 128 128 84 84 82 82 128 128 82 82 129 129 82 82 81 81 129 129 129 129 81 81 79 79 129 129 79 79 130 130 79 79 77 77 130 130 130 130 77 77 76 76 130 130 76 76 131 131 72 72 132 132 73 73 73 73 132 132 131 131 73 73 131 131 74 74 74 74 131 131 76 76 106 106 108 108 133 133 133 133 108 108 134 134 108 108 110 110 134 134 134 134 110 110 111 111 134 134 111 111 135 135 111 111 105 105 135 135 135 135 105 105 103 103 135 135 103 103 136 136 103 103 102 102 136 136 136 136 102 102 100 100 136 136 100 100 137 137 100 100 98 98 137 137 137 137 98 98 97 97 137 137 97 97 138 138 93 93 139 139 94 94 94 94 139 139 138 138 94 94 138 138 95 95 95 95 138 138 97 97 140 140 141 141 142 142 142 142 141 141 143 143 144 144 145 145 146 146 147 147 148 148 149 149 149 149 148 148 144 144 149 149 144 144 150 150 150 150 144 144 146 146 151 151 152 152 153 153 153 153 152 152 154 154 143 143 155 155 156 156 156 156 155 155 157 157 156 156 157 157 153 153 153 153 157 157 158 158 153 153 158 158 159 159 160 160 153 153 161 161 161 161 153 153 154 154 161 161 154 154 162 162 162 162 154 154 163 163 164 164 151 151 165 165 165 165 151 151 153 153 165 165 153 153 166 166 166 166 153 153 159 159 167 167 147 147 168 168 168 168 147 147 169 169 168 168 169 169 170 170 170 170 169 169 171 171 141 141 172 172 149 149 149 149 172 172 173 173 149 149 173 173 147 147 147 147 173 173 174 174 147 147 174 174 169 169 175 175 176 176 177 177 177 177 176 176 162 162 177 177 162 162 178 178 178 178 162 162 163 163 178 178 163 163 179 179 179 179 163 163 180 180 181 181 182 182 183 183 183 183 182 182 170 170 183 183 170 170 184 184 184 184 170 170 171 171 184 184 171 171 185 185 185 185 171 171 186 186 187 187 188 188 155 155 155 155 188 188 189 189 155 155 189 189 190 190 2 2 141 141 0 0 0 0 141 141 149 149 0 0 149 149 191 191 191 191 149 149 190 190 191 191 190 190 192 192 192 192 190 190 189 189 2 2 4 4 141 141 141 141 4 4 6 6 141 141 6 6 143 143 6 6 8 8 143 143 143 143 8 8 10 10 143 143 10 10 155 155 155 155 10 10 12 12 155 155 12 12 187 187 142 142 143 143 193 193 193 193 143 143 156 156 194 194 195 195 196 196 197 197 198 198 199 199 199 199 198 198 200 200 196 196 201 201 194 194 194 194 201 201 202 202 194 194 202 202 203 203 204 204 199 199 205 205 205 205 199 199 200 200 205 205 200 200 206 206 206 206 200 200 207 207 208 208 197 197 209 209 209 209 197 197 199 199 209 209 199 199 210 210 210 210 199 199 211 211 212 212 213 213 214 214 215 215 194 194 216 216 216 216 194 194 203 203 216 216 203 203 217 217 217 217 203 203 218 218 219 219 220 220 221 221 221 221 220 220 206 206 221 221 206 206 222 222 222 222 206 206 207 207 222 222 207 207 223 223 223 223 207 207 224 224 24 24 26 26 225 225 225 225 26 26 226 226 14 14 227 227 228 228 228 228 227 227 229 229 226 226 230 230 225 225 225 225 230 230 231 231 225 225 231 231 229 229 229 229 231 231 232 232 229 229 232 232 228 228 196 196 212 212 201 201 201 201 212 212 214 214 201 201 214 214 193 193 193 193 214 214 227 227 193 193 227 227 142 142 142 142 227 227 14 14 142 142 14 14 16 16 233 233 234 234 235 235 235 235 234 234 217 217 235 235 217 217 236 236 236 236 217 217 218 218 236 236 218 218 237 237 237 237 218 218 238 238 16 16 18 18 142 142 142 142 18 18 20 20 142 142 20 20 140 140 140 140 20 20 22 22 22 22 24 24 140 140 140 140 24 24 225 225 140 140 225 225 239 239 239 239 225 225 240 240 239 239 240 240 199 199 199 199 240 240 241 241 199 199 241 241 211 211 239 239 172 172 140 140 140 140 172 172 141 141 195 195 164 164 242 242 242 242 164 164 165 165 196 196 195 195 243 243 243 243 195 195 242 242 243 243 242 242 244 244 244 244 242 242 245 245 246 246 144 144 148 148 208 208 209 209 247 247 248 248 249 249 247 247 247 247 249 249 246 246 247 247 246 246 208 208 208 208 246 246 148 148 149 149 150 150 250 250 250 250 150 150 251 251 155 155 190 190 252 252 252 252 190 190 253 253 158 158 157 157 254 254 254 254 157 157 255 255 12 12 13 13 187 187 187 187 13 13 256 256 187 187 256 256 188 188 188 188 256 256 257 257 188 188 257 257 189 189 189 189 257 257 258 258 189 189 258 258 192 192 192 192 258 258 259 259 192 192 259 259 191 191 191 191 259 259 260 260 191 191 260 260 0 0 0 0 260 260 1 1 193 193 156 156 201 201 201 201 156 156 153 153 261 261 241 241 262 262 262 262 241 241 240 240 263 263 225 225 264 264 264 264 225 225 229 229 265 265 227 227 266 266 266 266 227 227 214 214 26 26 27 27 226 226 226 226 27 27 267 267 226 226 267 267 230 230 230 230 267 267 268 268 230 230 268 268 231 231 231 231 268 268 269 269 231 231 269 269 232 232 232 232 269 269 270 270 232 232 270 270 228 228 228 228 270 270 271 271 228 228 271 271 14 14 14 14 271 271 15 15 199 199 173 173 239 239 239 239 173 173 172 172 194 194 151 151 195 195 195 195 151 151 164 164 242 242 165 165 166 166 242 242 166 166 272 272 272 272 166 166 159 159 272 272 159 159 273 273 273 273 159 159 158 158 273 273 158 158 254 254 274 274 275 275 245 245 245 245 275 275 244 244 266 266 214 214 213 213 266 266 213 213 276 276 276 276 213 213 212 212 276 276 212 212 277 277 277 277 212 212 196 196 277 277 196 196 243 243 249 249 248 248 278 278 278 278 248 248 279 279 251 251 150 150 146 146 251 251 146 146 280 280 280 280 146 146 145 145 280 280 145 145 281 281 281 281 145 145 144 144 281 281 144 144 246 246 208 208 148 148 197 197 197 197 148 148 147 147 247 247 209 209 210 210 247 247 210 210 282 282 282 282 210 210 211 211 282 282 211 211 283 283 283 283 211 211 241 241 283 283 241 241 261 261 190 190 149 149 253 253 253 253 149 149 250 250 284 284 285 285 286 286 287 287 252 252 288 288 288 288 252 252 253 253 246 246 249 249 281 281 281 281 249 249 280 280 280 280 249 249 251 251 251 251 249 249 278 278 251 251 278 278 250 250 250 250 278 278 289 289 250 250 289 289 253 253 253 253 289 289 290 290 253 253 290 290 288 288 288 288 290 290 291 291 288 288 291 291 292 292 287 287 284 284 252 252 252 252 284 284 286 286 252 252 286 286 255 255 255 255 286 286 293 293 255 255 293 293 254 254 254 254 293 293 274 274 254 254 274 274 273 273 273 273 274 274 245 245 273 273 245 245 272 272 272 272 245 245 242 242 157 157 155 155 255 255 255 255 155 155 252 252 9 9 259 259 258 258 9 9 7 7 5 5 13 13 11 11 256 256 256 256 11 11 9 9 256 256 9 9 257 257 257 257 9 9 258 258 260 260 259 259 1 1 1 1 259 259 9 9 1 1 9 9 3 3 3 3 9 9 5 5 161 161 203 203 202 202 161 161 202 202 160 160 160 160 202 202 201 201 160 160 201 201 153 153 262 262 240 240 263 263 263 263 240 240 225 225 294 294 295 295 296 296 297 297 263 263 298 298 298 298 263 263 264 264 243 243 244 244 277 277 277 277 244 244 276 276 276 276 244 244 266 266 266 266 244 244 275 275 266 266 275 275 265 265 265 265 275 275 299 299 265 265 299 299 264 264 264 264 299 299 300 300 264 264 300 300 298 298 298 298 300 300 301 301 298 298 301 301 302 302 297 297 294 294 263 263 263 263 294 294 296 296 263 263 296 296 262 262 262 262 296 296 303 303 262 262 303 303 261 261 261 261 303 303 279 279 261 261 279 279 283 283 283 283 279 279 248 248 283 283 248 248 282 282 282 282 248 248 247 247 264 264 229 229 265 265 265 265 229 229 227 227 23 23 270 270 269 269 23 23 21 21 19 19 27 27 25 25 267 267 267 267 25 25 23 23 267 267 23 23 268 268 268 268 23 23 269 269 271 271 270 270 15 15 15 15 270 270 23 23 15 15 23 23 17 17 17 17 23 23 19 19 173 173 199 199 204 204 173 173 204 204 174 174 174 174 204 204 205 205 174 174 205 205 169 169 151 151 194 194 215 215 151 151 215 215 152 152 152 152 215 215 216 216 152 152 216 216 154 154 293 293 299 299 274 274 274 274 299 299 275 275 278 278 279 279 289 289 289 289 279 279 303 303 168 168 200 200 198 198 168 168 198 198 167 167 167 167 198 198 197 197 167 167 197 197 147 147 287 287 288 288 298 298 298 298 288 288 297 297 285 285 29 29 28 28 304 304 62 62 67 67 28 28 33 33 285 285 285 285 33 33 36 36 285 285 36 36 286 286 286 286 36 36 38 38 286 286 38 38 41 41 305 305 306 306 301 301 301 301 306 306 50 50 301 301 50 50 285 285 65 65 307 307 300 300 50 50 49 49 285 285 285 285 49 49 54 54 285 285 54 54 29 29 29 29 54 54 308 308 307 307 309 309 300 300 300 300 309 309 310 310 300 300 310 310 301 301 301 301 310 310 311 311 301 301 311 311 305 305 304 304 312 312 62 62 62 62 312 312 313 313 62 62 313 313 59 59 41 41 46 46 286 286 286 286 46 46 44 44 286 286 44 44 300 300 300 300 44 44 304 304 300 300 304 304 65 65 65 65 304 304 67 67 59 59 313 313 57 57 57 57 313 313 314 314 57 57 314 314 54 54 54 54 314 314 315 315 54 54 315 315 308 308 70 70 290 290 71 71 71 71 290 290 296 296 71 71 296 296 316 316 104 104 109 109 291 291 291 291 109 109 107 107 291 291 107 107 295 295 295 295 107 107 317 317 317 317 318 318 295 295 295 295 318 318 319 319 295 295 319 319 296 296 296 296 319 319 320 320 296 296 320 320 321 321 70 70 75 75 290 290 290 290 75 75 78 78 290 290 78 78 291 291 291 291 78 78 80 80 291 291 80 80 83 83 83 83 88 88 291 291 291 291 88 88 86 86 291 291 86 86 104 104 86 86 322 322 104 104 104 104 322 322 323 323 104 104 323 323 324 324 321 321 325 325 296 296 296 296 325 325 92 92 296 296 92 92 316 316 316 316 92 92 91 91 316 316 91 91 326 326 326 326 91 91 327 327 91 91 96 96 327 327 327 327 96 96 99 99 327 327 99 99 324 324 324 324 99 99 101 101 324 324 101 101 104 104 203 203 161 161 218 218 218 218 161 161 162 162 206 206 171 171 205 205 205 205 171 171 169 169 217 217 163 163 216 216 216 216 163 163 154 154 286 286 300 300 293 293 293 293 300 300 299 299 289 289 303 303 290 290 290 290 303 303 296 296 200 200 168 168 207 207 207 207 168 168 170 170 284 284 287 287 302 302 302 302 287 287 298 298 288 288 292 292 297 297 297 297 292 292 294 294 285 285 284 284 301 301 301 301 284 284 302 302 304 304 44 44 43 43 43 43 328 328 304 304 304 304 328 328 329 329 304 304 329 329 312 312 329 329 330 330 312 312 312 312 330 330 331 331 312 312 331 331 313 313 313 313 331 331 332 332 313 313 332 332 314 314 332 332 333 333 314 314 314 314 333 333 334 334 314 314 334 334 315 315 315 315 334 334 335 335 30 30 29 29 336 336 336 336 29 29 308 308 336 336 308 308 337 337 337 337 308 308 315 315 337 337 315 315 338 338 338 338 315 315 335 335 307 307 65 65 64 64 64 64 339 339 307 307 307 307 339 339 340 340 307 307 340 340 309 309 340 340 341 341 309 309 309 309 341 341 342 342 309 309 342 342 310 310 342 342 343 343 310 310 310 310 343 343 344 344 310 310 344 344 311 311 311 311 344 344 345 345 311 311 345 345 305 305 305 305 345 345 346 346 51 51 50 50 347 347 347 347 50 50 306 306 347 347 306 306 348 348 348 348 306 306 305 305 348 348 305 305 349 349 349 349 305 305 346 346 292 292 291 291 294 294 294 294 291 291 295 295 322 322 86 86 85 85 85 85 350 350 322 322 322 322 350 350 351 351 322 322 351 351 323 323 351 351 352 352 323 323 323 323 352 352 353 353 323 323 353 353 324 324 353 353 354 354 324 324 324 324 354 354 355 355 324 324 355 355 327 327 327 327 355 355 356 356 327 327 356 356 326 326 326 326 356 356 357 357 72 72 71 71 358 358 358 358 71 71 316 316 358 358 316 316 359 359 359 359 316 316 326 326 359 359 326 326 360 360 360 360 326 326 357 357 317 317 107 107 106 106 106 106 361 361 317 317 317 317 361 361 362 362 317 317 362 362 318 318 362 362 363 363 318 318 318 318 363 363 364 364 318 318 364 364 319 319 364 364 365 365 319 319 319 319 365 365 366 366 319 319 366 366 320 320 320 320 366 366 367 367 320 320 367 367 321 321 321 321 367 367 368 368 93 93 92 92 369 369 369 369 92 92 325 325 369 369 325 325 370 370 370 370 325 325 321 321 370 370 321 321 371 371 371 371 321 321 368 368 177 177 236 236 237 237 177 177 237 237 175 175 175 175 237 237 238 238 175 175 238 238 176 176 176 176 238 238 218 218 176 176 218 218 162 162 171 171 206 206 220 220 171 171 220 220 186 186 186 186 220 220 219 219 186 186 219 219 185 185 185 185 219 219 221 221 185 185 221 221 184 184 163 163 217 217 234 234 163 163 234 234 180 180 180 180 234 234 233 233 180 180 233 233 179 179 179 179 233 233 235 235 179 179 235 235 178 178 183 183 222 222 223 223 183 183 223 223 181 181 181 181 223 223 224 224 181 181 224 224 182 182 182 182 224 224 207 207 182 182 207 207 170 170 30 30 336 336 118 118 118 118 336 336 372 372 336 336 337 337 372 372 372 372 337 337 338 338 372 372 338 338 373 373 338 338 335 335 373 373 373 373 335 335 334 334 373 373 334 334 374 374 334 334 333 333 374 374 374 374 333 333 332 332 374 374 332 332 375 375 332 332 331 331 375 375 375 375 331 331 330 330 375 375 330 330 376 376 43 43 112 112 328 328 328 328 112 112 376 376 328 328 376 376 329 329 329 329 376 376 330 330 51 51 347 347 125 125 125 125 347 347 377 377 347 347 348 348 377 377 377 377 348 348 349 349 377 377 349 349 378 378 349 349 346 346 378 378 378 378 346 346 345 345 378 378 345 345 379 379 345 345 344 344 379 379 379 379 344 344 343 343 379 379 343 343 380 380 343 343 342 342 380 380 380 380 342 342 341 341 380 380 341 341 381 381 64 64 119 119 339 339 339 339 119 119 381 381 339 339 381 381 340 340 340 340 381 381 341 341 72 72 358 358 132 132 132 132 358 358 382 382 358 358 359 359 382 382 382 382 359 359 360 360 382 382 360 360 383 383 360 360 357 357 383 383 383 383 357 357 356 356 383 383 356 356 384 384 356 356 355 355 384 384 384 384 355 355 354 354 384 384 354 354 385 385 354 354 353 353 385 385 385 385 353 353 352 352 385 385 352 352 386 386 85 85 126 126 350 350 350 350 126 126 386 386 350 350 386 386 351 351 351 351 386 386 352 352 93 93 369 369 139 139 139 139 369 369 387 387 369 369 370 370 387 387 387 387 370 370 371 371 387 387 371 371 388 388 371 371 368 368 388 388 388 388 368 368 367 367 388 388 367 367 389 389 367 367 366 366 389 389 389 389 366 366 365 365 389 389 365 365 390 390 365 365 364 364 390 390 390 390 364 364 363 363 390 390 363 363 391 391 106 106 133 133 361 361 361 361 133 133 391 391 361 361 391 391 362 362 362 362 391 391 363 363 236 236 177 177 235 235 235 235 177 177 178 178 222 222 183 183 221 221 221 221 183 183 184 184 114 114 115 115 113 113 113 113 115 115 116 116 113 113 116 116 112 112 373 373 374 374 372 372 372 372 374 374 375 375 372 372 375 375 118 118 118 118 375 375 117 117 117 117 375 375 116 116 116 116 375 375 376 376 116 116 376 376 112 112 121 121 122 122 123 123 378 378 379 379 380 380 125 125 377 377 378 378 123 123 124 124 125 125 380 380 381 381 119 119 125 125 378 378 123 123 123 123 378 378 380 380 123 123 380 380 121 121 121 121 380 380 119 119 121 121 119 119 120 120 130 130 385 385 386 386 132 132 382 382 383 383 128 128 129 129 127 127 127 127 129 129 130 130 127 127 130 130 126 126 126 126 130 130 386 386 130 130 131 131 385 385 385 385 131 131 132 132 385 385 132 132 384 384 384 384 132 132 383 383 388 388 389 389 390 390 135 135 136 136 137 137 133 133 134 134 135 135 390 390 391 391 133 133 137 137 138 138 139 139 133 133 135 135 390 390 390 390 135 135 137 137 390 390 137 137 388 388 388 388 137 137 139 139 388 388 139 139 387 387 392 392 393 393 394 394 394 394 393 393 395 395 394 394 395 395 396 396 396 396 395 395 397 397 396 396 397 397 398 398 398 398 397 397 399 399 398 398 399 399 400 400 400 400 399 399 401 401 400 400 401 401 402 402 402 402 401 401 403 403 402 402 403 403 404 404 404 404 403 403 405 405 406 406 407 407 408 408 408 408 407 407 409 409 408 408 409 409 410 410 410 410 409 409 411 411 410 410 411 411 412 412 412 412 411 411 413 413 412 412 413 413 414 414 414 414 413 413 415 415 414 414 415 415 416 416 416 416 415 415 417 417 416 416 417 417 418 418 418 418 417 417 419 419 420 420 421 421 422 422 422 422 421 421 423 423 422 422 423 423 424 424 424 424 423 423 425 425 424 424 425 425 426 426 426 426 425 425 427 427 426 426 427 427 428 428 428 428 427 427 429 429 428 428 429 429 430 430 430 430 429 429 431 431 430 430 431 431 432 432 432 432 431 431 433 433 434 434 435 435 436 436 436 436 435 435 437 437 436 436 437 437 438 438 438 438 437 437 439 439 438 438 439 439 440 440 440 440 439 439 441 441 440 440 441 441 442 442 442 442 441 441 443 443 442 442 443 443 444 444 444 444 443 443 445 445 444 444 445 445 446 446 446 446 445 445 447 447 448 448 449 449 450 450 450 450 449 449 451 451 450 450 451 451 452 452 452 452 451 451 453 453 452 452 453 453 454 454 454 454 453 453 455 455 454 454 455 455 456 456 456 456 455 455 457 457 456 456 457 457 458 458 458 458 457 457 459 459 458 458 459 459 460 460 460 460 459 459 461 461 462 462 463 463 464 464 464 464 463 463 465 465 464 464 465 465 466 466 466 466 465 465 467 467 466 466 467 467 468 468 468 468 467 467 469 469 468 468 469 469 470 470 470 470 469 469 471 471 470 470 471 471 472 472 472 472 471 471 473 473 472 472 473 473 474 474 474 474 473 473 475 475 476 476 477 477 478 478 478 478 477 477 479 479 478 478 479 479 480 480 480 480 479 479 481 481 480 480 481 481 482 482 482 482 481 481 483 483 482 482 483 483 484 484 484 484 483 483 485 485 484 484 485 485 486 486 486 486 485 485 487 487 486 486 487 487 488 488 488 488 487 487 489 489 490 490 491 491 492 492 492 492 491 491 493 493 492 492 493 493 494 494 494 494 493 493 495 495 494 494 495 495 496 496 496 496 495 495 497 497 496 496 497 497 498 498 498 498 497 497 499 499 498 498 499 499 500 500 500 500 499 499 501 501 500 500 501 501 502 502 502 502 501 501 503 503 504 504 505 505 506 506 506 506 505 505 507 507 506 506 507 507 508 508 509 509 510 510 505 505 505 505 510 510 511 511 505 505 511 511 507 507 507 507 511 511 512 512 513 513 514 514 508 508 508 508 515 515 516 516 516 516 515 515 517 517 518 518 519 519 520 520 520 520 513 513 518 518 518 518 513 513 508 508 518 518 508 508 521 521 521 521 508 508 516 516 521 521 516 516 522 522 522 522 516 516 523 523 524 524 525 525 508 508 508 508 525 525 506 506 506 506 525 525 526 526 527 527 528 528 526 526 526 526 528 528 504 504 526 526 504 504 506 506 528 528 509 509 504 504 504 504 509 509 505 505 529 529 530 530 531 531 531 531 517 517 529 529 529 529 517 517 515 515 529 529 515 515 512 512 532 532 511 511 533 533 533 533 511 511 510 510 533 533 510 510 534 534 534 534 510 510 527 527 534 534 527 527 535 535 535 535 527 527 536 536 511 511 532 532 512 512 512 512 532 532 537 537 512 512 537 537 538 538 539 539 540 540 541 541 524 524 508 508 541 541 541 541 508 508 514 514 541 541 514 514 539 539 539 539 514 514 513 513 542 542 543 543 544 544 544 544 543 543 539 539 544 544 539 539 545 545 545 545 539 539 513 513 545 545 513 513 546 546 546 546 513 513 520 520 547 547 405 405 519 519 519 519 405 405 520 520 405 405 403 403 520 520 520 520 403 403 401 401 520 520 401 401 399 399 548 548 407 407 549 549 549 549 407 407 550 550 549 549 550 550 551 551 552 552 553 553 549 549 549 549 553 553 554 554 549 549 554 554 519 519 519 519 554 554 555 555 519 519 555 555 547 547 546 546 411 411 548 548 548 548 411 411 409 409 548 548 409 409 407 407 551 551 556 556 549 549 549 549 556 556 557 557 549 549 557 557 552 552 552 552 557 557 558 558 552 552 558 558 393 393 393 393 558 558 419 419 393 393 419 419 395 395 395 395 419 419 397 397 397 397 419 419 399 399 399 399 419 419 417 417 399 399 417 417 520 520 520 520 417 417 415 415 520 520 415 415 546 546 546 546 415 415 413 413 546 546 413 413 411 411 518 518 559 559 519 519 519 519 559 559 549 549 560 560 448 448 518 518 518 518 448 448 450 450 561 561 432 432 562 562 432 432 561 561 430 430 430 430 561 561 559 559 430 430 559 559 428 428 562 562 563 563 561 561 561 561 563 563 564 564 561 561 564 564 521 521 420 420 440 440 442 442 450 450 452 452 518 518 518 518 452 452 454 454 518 518 454 454 559 559 559 559 454 454 456 456 559 559 456 456 458 458 458 458 460 460 559 559 559 559 460 460 565 565 559 559 565 565 428 428 428 428 565 565 566 566 428 428 566 566 426 426 426 426 566 566 567 567 426 426 567 567 424 424 424 424 567 567 568 568 424 424 568 568 422 422 564 564 569 569 521 521 521 521 569 569 570 570 521 521 570 570 571 571 420 420 422 422 440 440 440 440 422 422 568 568 440 440 568 568 438 438 438 438 568 568 560 560 438 438 560 560 436 436 436 436 560 560 518 518 436 436 518 518 434 434 434 434 518 518 521 521 434 434 521 521 572 572 572 572 521 521 571 571 442 442 444 444 420 420 420 420 444 444 446 446 420 420 446 446 573 573 573 573 446 446 574 574 573 573 574 574 569 569 569 569 574 574 575 575 569 569 575 575 570 570 521 521 522 522 561 561 561 561 522 522 576 576 577 577 576 576 523 523 523 523 576 576 522 522 516 516 578 578 523 523 523 523 578 578 577 577 579 579 578 578 516 516 516 516 517 517 531 531 580 580 579 579 581 581 581 581 579 579 516 516 581 581 516 516 582 582 582 582 516 516 531 531 583 583 535 535 536 536 584 584 585 585 524 524 524 524 585 585 583 583 524 524 583 583 525 525 525 525 583 583 536 536 510 510 509 509 527 527 527 527 509 509 528 528 531 531 530 530 586 586 531 531 586 586 582 582 582 582 586 586 587 587 582 582 587 587 581 581 581 581 587 587 588 588 581 581 588 588 580 580 580 580 588 588 589 589 580 580 589 589 579 579 583 583 590 590 591 591 591 591 590 590 592 592 591 591 592 592 534 534 533 533 593 593 532 532 532 532 593 593 594 594 532 532 594 594 595 595 533 533 534 534 593 593 593 593 534 534 592 592 530 530 529 529 595 595 596 596 597 597 595 595 598 598 599 599 540 540 586 586 530 530 587 587 587 587 530 530 595 595 587 587 595 595 588 588 588 588 595 595 589 589 600 600 601 601 602 602 602 602 601 601 598 598 602 602 598 598 603 603 603 603 598 598 540 540 604 604 605 605 589 589 589 589 605 605 489 489 589 589 489 489 601 601 606 606 607 607 485 485 483 483 481 481 501 501 501 501 481 481 479 479 501 501 479 479 503 503 503 503 479 479 477 477 503 503 477 477 608 608 608 608 477 477 609 609 608 608 609 609 610 610 604 604 589 589 611 611 611 611 589 589 595 595 611 611 595 595 610 610 610 610 595 595 597 597 610 610 597 597 608 608 489 489 487 487 601 601 601 601 487 487 485 485 601 601 485 485 475 475 475 475 485 485 607 607 612 612 491 491 594 594 594 594 491 491 613 613 594 594 613 613 595 595 595 595 613 613 614 614 595 595 614 614 596 596 467 467 612 612 469 469 469 469 612 612 598 598 469 469 598 598 471 471 471 471 598 598 601 601 471 471 601 601 473 473 473 473 601 601 475 475 497 497 495 495 612 612 612 612 495 495 493 493 612 612 493 493 491 491 615 615 497 497 463 463 463 463 497 497 612 612 463 463 612 612 465 465 465 465 612 612 467 467 606 606 485 485 616 616 616 616 485 485 483 483 616 616 483 483 617 617 617 617 483 483 501 501 617 617 501 501 615 615 615 615 501 501 499 499 615 615 499 499 497 497 546 546 548 548 545 545 545 545 548 548 601 601 545 545 601 601 544 544 601 601 600 600 544 544 544 544 600 600 602 602 544 544 602 602 542 542 542 542 602 602 603 603 542 542 603 603 543 543 543 543 603 603 540 540 543 543 540 540 539 539 578 578 579 579 589 589 561 561 576 576 577 577 577 577 578 578 561 561 561 561 578 578 589 589 561 561 589 589 559 559 559 559 589 589 601 601 559 559 601 601 549 549 549 549 601 601 548 548 404 404 405 405 618 618 618 618 405 405 547 547 618 618 547 547 619 619 619 619 547 547 555 555 619 619 555 555 620 620 620 620 555 555 554 554 620 620 554 554 621 621 621 621 554 554 553 553 621 621 553 553 622 622 622 622 553 553 552 552 622 622 552 552 392 392 392 392 552 552 393 393 418 418 419 419 623 623 623 623 419 419 558 558 623 623 558 558 624 624 624 624 558 558 557 557 624 624 557 557 625 625 625 625 557 557 556 556 625 625 556 556 626 626 626 626 556 556 551 551 626 626 551 551 627 627 627 627 551 551 550 550 627 627 550 550 406 406 406 406 550 550 407 407 432 432 433 433 562 562 562 562 433 433 628 628 562 562 628 628 563 563 563 563 628 628 629 629 563 563 629 629 564 564 564 564 629 629 630 630 564 564 630 630 569 569 569 569 630 630 631 631 569 569 631 631 573 573 573 573 631 631 632 632 573 573 632 632 420 420 420 420 632 632 421 421 446 446 447 447 574 574 574 574 447 447 633 633 574 574 633 633 575 575 575 575 633 633 634 634 575 575 634 634 570 570 570 570 634 634 635 635 570 570 635 635 571 571 571 571 635 635 636 636 571 571 636 636 572 572 572 572 636 636 637 637 572 572 637 637 434 434 434 434 637 637 435 435 460 460 461 461 565 565 565 565 461 461 638 638 565 565 638 638 566 566 566 566 638 638 639 639 566 566 639 639 567 567 567 567 639 639 640 640 567 567 640 640 568 568 568 568 640 640 641 641 568 568 641 641 560 560 560 560 641 641 642 642 560 560 642 642 448 448 448 448 642 642 449 449 590 590 583 583 643 643 643 643 583 583 644 644 593 593 592 592 594 594 594 594 592 592 590 590 594 594 590 590 612 612 474 474 475 475 645 645 645 645 475 475 607 607 645 645 607 607 646 646 646 646 607 607 606 606 646 646 606 606 647 647 647 647 606 606 616 616 647 647 616 616 648 648 648 648 616 616 617 617 648 648 617 617 649 649 649 649 617 617 615 615 649 649 615 615 462 462 462 462 615 615 463 463 488 488 489 489 650 650 650 650 489 489 605 605 650 650 605 605 651 651 651 651 605 605 604 604 651 651 604 604 652 652 652 652 604 604 611 611 652 652 611 611 653 653 653 653 611 611 610 610 653 653 610 610 654 654 654 654 610 610 609 609 654 654 609 609 476 476 476 476 609 609 477 477 502 502 503 503 655 655 655 655 503 503 608 608 655 655 608 608 656 656 656 656 608 608 597 597 656 656 597 597 657 657 657 657 597 597 596 596 657 657 596 596 658 658 658 658 596 596 614 614 658 658 614 614 659 659 659 659 614 614 613 613 659 659 613 613 490 490 490 490 613 613 491 491 404 404 618 618 619 619 392 392 394 394 396 396 622 622 392 392 621 621 621 621 392 392 404 404 621 621 404 404 620 620 620 620 404 404 619 619 402 402 404 404 400 400 400 400 404 404 392 392 400 400 392 392 398 398 398 398 392 392 396 396 625 625 626 626 627 627 412 412 414 414 625 625 625 625 414 414 416 416 416 416 418 418 625 625 625 625 418 418 623 623 625 625 623 623 624 624 410 410 412 412 408 408 408 408 412 412 625 625 408 408 625 625 406 406 406 406 625 625 627 627 628 628 650 650 629 629 629 629 650 650 651 651 629 629 651 651 630 630 630 630 651 651 652 652 630 630 652 652 631 631 631 631 652 652 653 653 631 631 653 653 632 632 632 632 653 653 654 654 632 632 654 654 421 421 421 421 654 654 476 476 421 421 476 476 423 423 423 423 476 476 478 478 423 423 478 478 425 425 425 425 478 478 480 480 425 425 480 480 427 427 427 427 480 480 482 482 427 427 482 482 429 429 429 429 482 482 484 484 429 429 484 484 431 431 431 431 484 484 486 486 431 431 486 486 433 433 433 433 486 486 488 488 433 433 488 488 628 628 628 628 488 488 650 650 634 634 656 656 635 635 635 635 656 656 657 657 635 635 657 657 636 636 636 636 657 657 658 658 636 636 658 658 637 637 637 637 658 658 659 659 637 637 659 659 435 435 435 435 659 659 490 490 435 435 490 490 437 437 437 437 490 490 492 492 437 437 492 492 439 439 439 439 492 492 494 494 439 439 494 494 441 441 441 441 494 494 496 496 441 441 496 496 443 443 443 443 496 496 498 498 443 443 498 498 445 445 445 445 498 498 500 500 445 445 500 500 447 447 447 447 500 500 502 502 447 447 502 502 633 633 633 633 502 502 655 655 633 633 655 655 634 634 634 634 655 655 656 656 457 457 470 470 459 459 459 459 470 470 472 472 459 459 472 472 461 461 461 461 472 472 474 474 461 461 474 474 638 638 638 638 474 474 645 645 638 638 645 645 639 639 639 639 645 645 646 646 639 639 646 646 640 640 640 640 646 646 647 647 640 640 647 647 641 641 641 641 647 647 648 648 641 641 648 648 642 642 642 642 648 648 649 649 642 642 649 649 449 449 449 449 649 649 462 462 449 449 462 462 451 451 451 451 462 462 464 464 451 451 464 464 453 453 453 453 464 464 466 466 453 453 466 466 455 455 455 455 466 466 468 468 455 455 468 468 457 457 457 457 468 468 470 470</p>
|
| 82 |
-
</triangles>
|
| 83 |
-
</mesh>
|
| 84 |
-
</geometry>
|
| 85 |
-
</library_geometries>
|
| 86 |
-
<library_visual_scenes>
|
| 87 |
-
<visual_scene id="Scene" name="Scene">
|
| 88 |
-
<node id="link8" name="link8" type="NODE">
|
| 89 |
-
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
|
| 90 |
-
<instance_geometry url="#link8-mesh" name="link8">
|
| 91 |
-
<bind_material>
|
| 92 |
-
<technique_common>
|
| 93 |
-
<instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
|
| 94 |
-
</technique_common>
|
| 95 |
-
</bind_material>
|
| 96 |
-
</instance_geometry>
|
| 97 |
-
</node>
|
| 98 |
-
</visual_scene>
|
| 99 |
-
</library_visual_scenes>
|
| 100 |
-
<scene>
|
| 101 |
-
<instance_visual_scene url="#Scene"/>
|
| 102 |
-
</scene>
|
| 103 |
-
</COLLADA>
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e58e8cbc674bb7465ec81a2db6c4b1d08ccf1d63352e245739aa6418d62b0fd7
|
| 3 |
+
size 77778
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/right_cam_link.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_wheel.dae
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
CHANGED
|
@@ -1,1675 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
-
<robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
| 6 |
-
<!-- <link name="footprint"/> -->
|
| 7 |
-
|
| 8 |
-
<!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
|
| 9 |
-
<!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
|
| 10 |
-
|
| 11 |
-
<link name="footprint">
|
| 12 |
-
</link>
|
| 13 |
-
|
| 14 |
-
<!-- tracer base -->
|
| 15 |
-
<link name="base_link">
|
| 16 |
-
<visual>
|
| 17 |
-
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 18 |
-
<!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
|
| 19 |
-
<geometry>
|
| 20 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 21 |
-
<mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
|
| 22 |
-
<!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
|
| 23 |
-
</geometry>
|
| 24 |
-
</visual>
|
| 25 |
-
<collision>
|
| 26 |
-
<!--origin
|
| 27 |
-
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 28 |
-
rpy="0 0 0" /-->
|
| 29 |
-
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 30 |
-
<geometry>
|
| 31 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 32 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
|
| 33 |
-
<box size="0.35 0.1 0.35"/>
|
| 34 |
-
</geometry>
|
| 35 |
-
</collision>
|
| 36 |
-
</link>
|
| 37 |
-
<link name="inertial_link">
|
| 38 |
-
<inertial>
|
| 39 |
-
<!--mass value="44.3898489950015" /-->
|
| 40 |
-
<mass value="132.3898489950015" />
|
| 41 |
-
<!-- <mass value="50" /> -->
|
| 42 |
-
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
| 43 |
-
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
| 44 |
-
<origin xyz="0.015 0.0231316650320557 0" />
|
| 45 |
-
<!--<origin
|
| 46 |
-
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 47 |
-
rpy="0 0 0" />-->
|
| 48 |
-
<inertia ixx="0.185196122711036"
|
| 49 |
-
ixy="4.30144213829512E-08"
|
| 50 |
-
ixz="5.81037523686401E-08"
|
| 51 |
-
iyy="0.364893736238929"
|
| 52 |
-
iyz="-0.000386720198091934"
|
| 53 |
-
izz="0.223868521722778" />
|
| 54 |
-
<!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
|
| 55 |
-
</inertial>
|
| 56 |
-
</link>
|
| 57 |
-
|
| 58 |
-
<joint name="inertial_joint" type="fixed">
|
| 59 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 60 |
-
<parent link="base_link" />
|
| 61 |
-
<child link="inertial_link" />
|
| 62 |
-
</joint>
|
| 63 |
-
|
| 64 |
-
<link name="right_wheel_link">
|
| 65 |
-
<inertial>
|
| 66 |
-
<mass value="6" />
|
| 67 |
-
<origin xyz="0 0 0" />
|
| 68 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 69 |
-
</inertial>
|
| 70 |
-
<visual>
|
| 71 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 72 |
-
<geometry>
|
| 73 |
-
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 74 |
-
</geometry>
|
| 75 |
-
</visual>
|
| 76 |
-
<collision>
|
| 77 |
-
<origin
|
| 78 |
-
xyz="0 0 0"
|
| 79 |
-
rpy="1.57 0 0" />
|
| 80 |
-
<geometry>
|
| 81 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 82 |
-
<cylinder radius="0.05" length="0.05" />
|
| 83 |
-
</geometry>
|
| 84 |
-
</collision>
|
| 85 |
-
</link>
|
| 86 |
-
|
| 87 |
-
<joint name="right_wheel" type="continuous">
|
| 88 |
-
<parent link="base_link"/>
|
| 89 |
-
<child link="right_wheel_link"/>
|
| 90 |
-
<origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
|
| 91 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 92 |
-
</joint>
|
| 93 |
-
|
| 94 |
-
<link name="left_wheel_link">
|
| 95 |
-
<inertial>
|
| 96 |
-
<mass value="6" />
|
| 97 |
-
<origin xyz="0 0 0" />
|
| 98 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 99 |
-
</inertial>
|
| 100 |
-
<visual>
|
| 101 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 102 |
-
<geometry>
|
| 103 |
-
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 104 |
-
</geometry>
|
| 105 |
-
</visual>
|
| 106 |
-
<collision>
|
| 107 |
-
<origin
|
| 108 |
-
xyz="0 0 0"
|
| 109 |
-
rpy="1.57 0 0" />
|
| 110 |
-
<geometry>
|
| 111 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 112 |
-
<cylinder radius="0.05" length="0.05" />
|
| 113 |
-
</geometry>
|
| 114 |
-
</collision>
|
| 115 |
-
</link>
|
| 116 |
-
|
| 117 |
-
<joint name="left_wheel" type="continuous">
|
| 118 |
-
<parent link="base_link"/>
|
| 119 |
-
<child link="left_wheel_link"/>
|
| 120 |
-
<origin xyz="0 0.17 -0.082" rpy="0 0 0" />
|
| 121 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 122 |
-
</joint>
|
| 123 |
-
|
| 124 |
-
<link name="fl_castor_link">
|
| 125 |
-
<inertial>
|
| 126 |
-
<mass value="1" />
|
| 127 |
-
<origin xyz="0 0 0" />
|
| 128 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 129 |
-
</inertial>
|
| 130 |
-
<visual>
|
| 131 |
-
<geometry>
|
| 132 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 133 |
-
</geometry>
|
| 134 |
-
</visual>
|
| 135 |
-
</link>
|
| 136 |
-
|
| 137 |
-
<joint name="fl_castor_wheel" type="continuous">
|
| 138 |
-
<parent link="base_link" />
|
| 139 |
-
<child link="fl_castor_link" />
|
| 140 |
-
<origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
|
| 141 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 142 |
-
</joint>
|
| 143 |
-
|
| 144 |
-
<link name="fr_castor_link">
|
| 145 |
-
<inertial>
|
| 146 |
-
<mass value="1" />
|
| 147 |
-
<origin xyz="0 0 0" />
|
| 148 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 149 |
-
</inertial>
|
| 150 |
-
<visual>
|
| 151 |
-
<geometry>
|
| 152 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 153 |
-
</geometry>
|
| 154 |
-
</visual>
|
| 155 |
-
</link>
|
| 156 |
-
|
| 157 |
-
<joint name="fr_castor_wheel" type="continuous">
|
| 158 |
-
<origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 159 |
-
<parent link="base_link" />
|
| 160 |
-
<child link="fr_castor_link" />
|
| 161 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 162 |
-
</joint>
|
| 163 |
-
|
| 164 |
-
<link name="rr_castor_link">
|
| 165 |
-
<inertial>
|
| 166 |
-
<mass value="1" />
|
| 167 |
-
<origin xyz="0 0 0" />
|
| 168 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 169 |
-
</inertial>
|
| 170 |
-
<visual>
|
| 171 |
-
<geometry>
|
| 172 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 173 |
-
</geometry>
|
| 174 |
-
</visual>
|
| 175 |
-
</link>
|
| 176 |
-
|
| 177 |
-
<joint name="rr_castor_wheel" type="continuous">
|
| 178 |
-
<origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 179 |
-
<parent link="base_link" />
|
| 180 |
-
<child link="rr_castor_link" />
|
| 181 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 182 |
-
</joint>
|
| 183 |
-
|
| 184 |
-
<link name="rl_castor_link">
|
| 185 |
-
<inertial>
|
| 186 |
-
<mass value="1" />
|
| 187 |
-
<origin xyz="0 0 0" />
|
| 188 |
-
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 189 |
-
</inertial>
|
| 190 |
-
<visual>
|
| 191 |
-
<geometry>
|
| 192 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 193 |
-
</geometry>
|
| 194 |
-
</visual>
|
| 195 |
-
</link>
|
| 196 |
-
|
| 197 |
-
<joint name="rl_castor_wheel" type="continuous">
|
| 198 |
-
<origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 199 |
-
<parent link="base_link" />
|
| 200 |
-
<child link="rl_castor_link" />
|
| 201 |
-
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 202 |
-
</joint>
|
| 203 |
-
|
| 204 |
-
<link name="fl_wheel_link">
|
| 205 |
-
<inertial>
|
| 206 |
-
<mass value="1" />
|
| 207 |
-
<origin xyz="0 0 0" />
|
| 208 |
-
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 209 |
-
</inertial>
|
| 210 |
-
<visual>
|
| 211 |
-
<geometry>
|
| 212 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 213 |
-
</geometry>
|
| 214 |
-
</visual>
|
| 215 |
-
<collision>
|
| 216 |
-
<origin
|
| 217 |
-
xyz="0 0 0"
|
| 218 |
-
rpy="0 0 0" />
|
| 219 |
-
<geometry>
|
| 220 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 221 |
-
<cylinder radius="0.025" length="0.025" />
|
| 222 |
-
</geometry>
|
| 223 |
-
</collision>
|
| 224 |
-
</link>
|
| 225 |
-
|
| 226 |
-
<joint name="fl_wheel" type="continuous">
|
| 227 |
-
<parent link="fl_castor_link"/>
|
| 228 |
-
<child link="fl_wheel_link"/>
|
| 229 |
-
<dynamics damping="0.0" friction="0.0"/>
|
| 230 |
-
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 231 |
-
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 232 |
-
</joint>
|
| 233 |
-
|
| 234 |
-
<link name="fr_wheel_link">
|
| 235 |
-
<inertial>
|
| 236 |
-
<mass value="1" />
|
| 237 |
-
<origin xyz="0 0 0" />
|
| 238 |
-
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 239 |
-
</inertial>
|
| 240 |
-
<visual>
|
| 241 |
-
<geometry>
|
| 242 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 243 |
-
</geometry>
|
| 244 |
-
</visual>
|
| 245 |
-
<collision>
|
| 246 |
-
<origin
|
| 247 |
-
xyz="0 0 0"
|
| 248 |
-
rpy="0 0 0" />
|
| 249 |
-
<geometry>
|
| 250 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
|
| 251 |
-
<cylinder radius="0.025" length="0.025" />
|
| 252 |
-
</geometry>
|
| 253 |
-
</collision>
|
| 254 |
-
</link>
|
| 255 |
-
|
| 256 |
-
<joint name="fr_wheel" type="continuous">
|
| 257 |
-
<parent link="fr_castor_link"/>
|
| 258 |
-
<child link="fr_wheel_link"/>
|
| 259 |
-
<dynamics damping="0.0" friction="0.0"/>
|
| 260 |
-
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 261 |
-
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 262 |
-
</joint>
|
| 263 |
-
|
| 264 |
-
<link name="rr_wheel_link">
|
| 265 |
-
<inertial>
|
| 266 |
-
<mass value="1" />
|
| 267 |
-
<origin xyz="0 0 0" />
|
| 268 |
-
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 269 |
-
<!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
|
| 270 |
-
</inertial>
|
| 271 |
-
<visual>
|
| 272 |
-
<geometry>
|
| 273 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 274 |
-
</geometry>
|
| 275 |
-
</visual>
|
| 276 |
-
<collision>
|
| 277 |
-
<origin
|
| 278 |
-
xyz="0 0 0"
|
| 279 |
-
rpy="0 0 0" />
|
| 280 |
-
<geometry>
|
| 281 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 282 |
-
<cylinder radius="0.025" length="0.025" />
|
| 283 |
-
</geometry>
|
| 284 |
-
</collision>
|
| 285 |
-
</link>
|
| 286 |
-
|
| 287 |
-
<joint name="rr_wheel" type="continuous">
|
| 288 |
-
<parent link="rr_castor_link"/>
|
| 289 |
-
<child link="rr_wheel_link"/>
|
| 290 |
-
<dynamics damping="0.0" friction="0.0"/>
|
| 291 |
-
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 292 |
-
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 293 |
-
</joint>
|
| 294 |
-
|
| 295 |
-
<link name="rl_wheel_link">
|
| 296 |
-
<inertial>
|
| 297 |
-
<mass value="1" />
|
| 298 |
-
<origin xyz="0 0 0" />
|
| 299 |
-
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 300 |
-
</inertial>
|
| 301 |
-
<visual>
|
| 302 |
-
<geometry>
|
| 303 |
-
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 304 |
-
</geometry>
|
| 305 |
-
</visual>
|
| 306 |
-
<collision>
|
| 307 |
-
<origin
|
| 308 |
-
xyz="0 0 0"
|
| 309 |
-
rpy="0 0 0" />
|
| 310 |
-
<geometry>
|
| 311 |
-
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 312 |
-
<cylinder radius="0.025" length="0.025" />
|
| 313 |
-
</geometry>
|
| 314 |
-
</collision>
|
| 315 |
-
</link>
|
| 316 |
-
|
| 317 |
-
<joint name="rl_wheel" type="continuous">
|
| 318 |
-
<parent link="rl_castor_link"/>
|
| 319 |
-
<child link="rl_wheel_link"/>
|
| 320 |
-
<dynamics damping="0.0" friction="0.0"/>
|
| 321 |
-
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 322 |
-
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 323 |
-
</joint>
|
| 324 |
-
|
| 325 |
-
<!-- aloha base -->
|
| 326 |
-
<joint name="box_joint" type="fixed">
|
| 327 |
-
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 328 |
-
<parent link="footprint" />
|
| 329 |
-
<child link="base_link" />
|
| 330 |
-
<axis xyz="0 0 0" />
|
| 331 |
-
</joint>
|
| 332 |
-
<link name="box1_Link">
|
| 333 |
-
<inertial>
|
| 334 |
-
<origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
|
| 335 |
-
<mass value="0.00014994" />
|
| 336 |
-
<inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
|
| 337 |
-
</inertial>
|
| 338 |
-
<visual>
|
| 339 |
-
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 340 |
-
<geometry>
|
| 341 |
-
<mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 342 |
-
</geometry>
|
| 343 |
-
<material name="">
|
| 344 |
-
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 345 |
-
</material>
|
| 346 |
-
</visual>
|
| 347 |
-
<!-- <collision>
|
| 348 |
-
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 349 |
-
<geometry>
|
| 350 |
-
<mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 351 |
-
</geometry>
|
| 352 |
-
</collision> -->
|
| 353 |
-
</link>
|
| 354 |
-
<joint name="box1" type="fixed">
|
| 355 |
-
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 356 |
-
<parent link="footprint" />
|
| 357 |
-
<child link="box1_Link" />
|
| 358 |
-
<axis xyz="0 0 0" />
|
| 359 |
-
</joint>
|
| 360 |
-
<link name="box2_Link">
|
| 361 |
-
<inertial>
|
| 362 |
-
<origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
|
| 363 |
-
<mass value="3.736" />
|
| 364 |
-
<inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
|
| 365 |
-
</inertial>
|
| 366 |
-
<visual>
|
| 367 |
-
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 368 |
-
<geometry>
|
| 369 |
-
<mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 370 |
-
</geometry>
|
| 371 |
-
</visual>
|
| 372 |
-
<!-- <collision>
|
| 373 |
-
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 374 |
-
<geometry>
|
| 375 |
-
<mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 376 |
-
</geometry>
|
| 377 |
-
</collision> -->
|
| 378 |
-
</link>
|
| 379 |
-
<joint name="box2" type="fixed">
|
| 380 |
-
<origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
|
| 381 |
-
<parent link="box1_Link" />
|
| 382 |
-
<child link="box2_Link" />
|
| 383 |
-
<axis xyz="0 0 0" />
|
| 384 |
-
</joint>
|
| 385 |
-
|
| 386 |
-
|
| 387 |
-
|
| 388 |
-
<link
|
| 389 |
-
name="camera_base_link">
|
| 390 |
-
<inertial>
|
| 391 |
-
<origin
|
| 392 |
-
xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
|
| 393 |
-
rpy="0 0 0" />
|
| 394 |
-
<mass
|
| 395 |
-
value="0.336269569361489" />
|
| 396 |
-
<inertia
|
| 397 |
-
ixx="0.00580628296841397"
|
| 398 |
-
ixy="3.98435937176716E-10"
|
| 399 |
-
ixz="-2.42350052877161E-05"
|
| 400 |
-
iyy="0.00582602200678083"
|
| 401 |
-
iyz="2.9180594404216E-10"
|
| 402 |
-
izz="0.000186894283496158" />
|
| 403 |
-
</inertial>
|
| 404 |
-
<visual>
|
| 405 |
-
<origin
|
| 406 |
-
xyz="0 0 0"
|
| 407 |
-
rpy="0 0 0" />
|
| 408 |
-
<geometry>
|
| 409 |
-
<mesh
|
| 410 |
-
filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 411 |
-
</geometry>
|
| 412 |
-
<!-- <material
|
| 413 |
-
name="white">
|
| 414 |
-
<color rgba="0.752 0.7529 0.7529 1" />
|
| 415 |
-
</material> -->
|
| 416 |
-
</visual>
|
| 417 |
-
<!-- <collision>
|
| 418 |
-
<origin
|
| 419 |
-
xyz="0 0 0"
|
| 420 |
-
rpy="0 0 0" />
|
| 421 |
-
<geometry>
|
| 422 |
-
<mesh
|
| 423 |
-
filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 424 |
-
</geometry>
|
| 425 |
-
</collision> -->
|
| 426 |
-
</link>
|
| 427 |
-
|
| 428 |
-
<joint name="camera_to_box1" type="fixed">
|
| 429 |
-
<origin xyz="0.18 0 0.626" rpy="0 0 0" />
|
| 430 |
-
<parent link="box1_Link" />
|
| 431 |
-
<child link="camera_base_link" />
|
| 432 |
-
<axis xyz="0 0 0" />
|
| 433 |
-
</joint>
|
| 434 |
-
|
| 435 |
-
<link
|
| 436 |
-
name="camera_link1">
|
| 437 |
-
<inertial>
|
| 438 |
-
<origin
|
| 439 |
-
xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
|
| 440 |
-
rpy="0 0 0" />
|
| 441 |
-
<mass
|
| 442 |
-
value="0.0877001598245188" />
|
| 443 |
-
<inertia
|
| 444 |
-
ixx="7.77343248794949E-05"
|
| 445 |
-
ixy="2.44922634558373E-07"
|
| 446 |
-
ixz="1.73341747661077E-08"
|
| 447 |
-
iyy="9.73521513961785E-06"
|
| 448 |
-
iyz="-2.86133018917868E-09"
|
| 449 |
-
izz="7.74948757118157E-05" />
|
| 450 |
-
</inertial>
|
| 451 |
-
<visual>
|
| 452 |
-
<origin
|
| 453 |
-
xyz="0 0 0"
|
| 454 |
-
rpy="0 0 0" />
|
| 455 |
-
<geometry>
|
| 456 |
-
<mesh
|
| 457 |
-
filename="aloha_maniskill_sim/meshes/camera_link1.dae" />
|
| 458 |
-
</geometry>
|
| 459 |
-
<!-- <material
|
| 460 |
-
name="black">
|
| 461 |
-
<color rgba="0.05 0.05 0.05 0.98" />
|
| 462 |
-
</material> -->
|
| 463 |
-
</visual>
|
| 464 |
-
<!-- <collision>
|
| 465 |
-
<origin
|
| 466 |
-
xyz="0 0 0"
|
| 467 |
-
rpy="0 0 0" />
|
| 468 |
-
<geometry>
|
| 469 |
-
<mesh
|
| 470 |
-
filename="aloha_maniskill_sim/meshes/camera_link1.STL" />
|
| 471 |
-
</geometry>
|
| 472 |
-
</collision> -->
|
| 473 |
-
</link>
|
| 474 |
-
<joint name="camera_joint1" type="fixed">
|
| 475 |
-
<origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
|
| 476 |
-
<parent link="camera_base_link" />
|
| 477 |
-
<child link="camera_link1" />
|
| 478 |
-
<axis xyz="0 0 0" ryp="0 0 0"/>
|
| 479 |
-
</joint>
|
| 480 |
-
<link name="camera_link2">
|
| 481 |
-
<inertial>
|
| 482 |
-
<origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
|
| 483 |
-
<mass value="0.0877001605148491" />
|
| 484 |
-
<inertia
|
| 485 |
-
ixx="7.77338961798341E-05"
|
| 486 |
-
ixy="2.44922367048273E-07"
|
| 487 |
-
ixz="1.80373226250749E-08"
|
| 488 |
-
iyy="9.73521616927317E-06"
|
| 489 |
-
iyz="-2.86130173714525E-09"
|
| 490 |
-
izz="7.74953085203139E-05" />
|
| 491 |
-
</inertial>
|
| 492 |
-
<visual>
|
| 493 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 494 |
-
<geometry>
|
| 495 |
-
<mesh
|
| 496 |
-
filename="aloha_maniskill_sim/meshes/camera_link2.dae" />
|
| 497 |
-
</geometry>
|
| 498 |
-
<!-- <material name="black">
|
| 499 |
-
|
| 500 |
-
</material> -->
|
| 501 |
-
</visual>
|
| 502 |
-
<!-- <collision>
|
| 503 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 504 |
-
<geometry>
|
| 505 |
-
<mesh
|
| 506 |
-
filename="aloha_maniskill_sim/meshes/camera_link2.STL" />
|
| 507 |
-
</geometry>
|
| 508 |
-
</collision> -->
|
| 509 |
-
</link>
|
| 510 |
-
<joint name="camera_joint2" type="fixed">
|
| 511 |
-
<!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
|
| 512 |
-
<origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
|
| 513 |
-
<parent link="camera_link1" />
|
| 514 |
-
<child link="camera_link2" />
|
| 515 |
-
<axis
|
| 516 |
-
xyz="0 0 0" />
|
| 517 |
-
</joint>
|
| 518 |
-
|
| 519 |
-
|
| 520 |
-
<!--***************************** front-left ****************************** -->
|
| 521 |
-
<link name="fl_base_link">
|
| 522 |
-
<inertial>
|
| 523 |
-
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 524 |
-
<mass value="0.155112526591278" />
|
| 525 |
-
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 526 |
-
</inertial>
|
| 527 |
-
<visual>
|
| 528 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 529 |
-
<geometry>
|
| 530 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 531 |
-
</geometry>
|
| 532 |
-
<!-- <material name="black">
|
| 533 |
-
<color rgba="0.05 0.05 0.05 0.98" />
|
| 534 |
-
</material> -->
|
| 535 |
-
</visual>
|
| 536 |
-
<collision>
|
| 537 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 538 |
-
<geometry>
|
| 539 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 540 |
-
</geometry>
|
| 541 |
-
</collision>
|
| 542 |
-
</link>
|
| 543 |
-
<joint name="fl_base_joint" type="fixed">
|
| 544 |
-
<origin xyz="0.2305 0.297 0.782" rpy="0.0 0.0 0.02" />
|
| 545 |
-
<parent link="footprint" />
|
| 546 |
-
<child link="fl_base_link" />
|
| 547 |
-
<axis xyz="0.0 0.0 1.0" />
|
| 548 |
-
</joint>
|
| 549 |
-
|
| 550 |
-
<link name="fl_link1">
|
| 551 |
-
<inertial>
|
| 552 |
-
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 553 |
-
<mass value="0.0216291264377367" />
|
| 554 |
-
<inertia
|
| 555 |
-
ixx="1.15756471313396E-05"
|
| 556 |
-
ixy="1.63728784702967E-06"
|
| 557 |
-
ixz="-2.73767909517805E-06"
|
| 558 |
-
iyy="9.54605859943272E-06"
|
| 559 |
-
iyz="3.01605409074901E-06"
|
| 560 |
-
izz="1.06781021447089E-05" />
|
| 561 |
-
</inertial>
|
| 562 |
-
<visual>
|
| 563 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 564 |
-
<geometry>
|
| 565 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 566 |
-
</geometry>
|
| 567 |
-
<!-- <material name="black">
|
| 568 |
-
|
| 569 |
-
</material> -->
|
| 570 |
-
</visual>
|
| 571 |
-
<collision>
|
| 572 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 573 |
-
<geometry>
|
| 574 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 575 |
-
</geometry>
|
| 576 |
-
</collision>
|
| 577 |
-
</link>
|
| 578 |
-
<joint name="fl_joint1" type="revolute">
|
| 579 |
-
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 580 |
-
<parent link="fl_base_link" />
|
| 581 |
-
<child link="fl_link1" />
|
| 582 |
-
<axis xyz="0 0 1" />
|
| 583 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 584 |
-
</joint>
|
| 585 |
-
<link name="fl_link2">
|
| 586 |
-
<inertial>
|
| 587 |
-
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 588 |
-
<mass value="0.317040634327494" />
|
| 589 |
-
<inertia
|
| 590 |
-
ixx="0.000148622978788109"
|
| 591 |
-
ixy="7.9939701538228E-06"
|
| 592 |
-
ixz="2.11594522192149E-06"
|
| 593 |
-
iyy="0.000646291918352959"
|
| 594 |
-
iyz="-1.99305353242084E-08"
|
| 595 |
-
izz="0.000613128041834933" />
|
| 596 |
-
</inertial>
|
| 597 |
-
<visual>
|
| 598 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 599 |
-
<geometry>
|
| 600 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 601 |
-
</geometry>
|
| 602 |
-
<!-- <material name="black">
|
| 603 |
-
|
| 604 |
-
</material> -->
|
| 605 |
-
</visual>
|
| 606 |
-
<collision>
|
| 607 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 608 |
-
<geometry>
|
| 609 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 610 |
-
</geometry>
|
| 611 |
-
</collision>
|
| 612 |
-
</link>
|
| 613 |
-
<joint name="fl_joint2" type="revolute">
|
| 614 |
-
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 615 |
-
<parent link="fl_link1" />
|
| 616 |
-
<child link="fl_link2" />
|
| 617 |
-
<axis xyz="0 1 0" />
|
| 618 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 619 |
-
</joint>
|
| 620 |
-
<link name="fl_link3">
|
| 621 |
-
<inertial>
|
| 622 |
-
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 623 |
-
<mass value="0.475179901151789" />
|
| 624 |
-
<inertia
|
| 625 |
-
ixx="0.000245797731408424"
|
| 626 |
-
ixy="-1.18756934981885E-06"
|
| 627 |
-
ixz="-3.08627546217305E-07"
|
| 628 |
-
iyy="0.000848596965773723"
|
| 629 |
-
iyz="2.1655980060709E-07"
|
| 630 |
-
izz="0.00073290848648715" />
|
| 631 |
-
</inertial>
|
| 632 |
-
<visual>
|
| 633 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 634 |
-
<geometry>
|
| 635 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 636 |
-
</geometry>
|
| 637 |
-
<!-- <material name="white">
|
| 638 |
-
<color rgba="0.752 0.7529 0.7529 1" />
|
| 639 |
-
</material> -->
|
| 640 |
-
</visual>
|
| 641 |
-
<collision>
|
| 642 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 643 |
-
<geometry>
|
| 644 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 645 |
-
</geometry>
|
| 646 |
-
</collision>
|
| 647 |
-
</link>
|
| 648 |
-
<joint name="fl_joint3" type="revolute">
|
| 649 |
-
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 650 |
-
<parent link="fl_link2" />
|
| 651 |
-
<child link="fl_link3" />
|
| 652 |
-
<axis xyz="0 1 0" />
|
| 653 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 654 |
-
</joint>
|
| 655 |
-
<link name="fl_link4">
|
| 656 |
-
<inertial>
|
| 657 |
-
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 658 |
-
<mass value="0.138133633872797" />
|
| 659 |
-
<inertia
|
| 660 |
-
ixx="5.6812931750694E-05"
|
| 661 |
-
ixy="3.18564570369191E-06"
|
| 662 |
-
ixz="3.31187610383292E-06"
|
| 663 |
-
iyy="5.56751697137782E-05"
|
| 664 |
-
iyz="-2.13897740775086E-06"
|
| 665 |
-
izz="6.42957251144152E-05" />
|
| 666 |
-
</inertial>
|
| 667 |
-
<visual>
|
| 668 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 669 |
-
<geometry>
|
| 670 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 671 |
-
</geometry>
|
| 672 |
-
<!-- <material name="black">
|
| 673 |
-
|
| 674 |
-
</material> -->
|
| 675 |
-
</visual>
|
| 676 |
-
<collision>
|
| 677 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 678 |
-
<geometry>
|
| 679 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 680 |
-
</geometry>
|
| 681 |
-
</collision>
|
| 682 |
-
</link>
|
| 683 |
-
<joint name="fl_joint4" type="revolute">
|
| 684 |
-
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 685 |
-
<parent link="fl_link3" />
|
| 686 |
-
<child link="fl_link4" />
|
| 687 |
-
<axis xyz="0 1 0" />
|
| 688 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 689 |
-
</joint>
|
| 690 |
-
<link name="fl_link5">
|
| 691 |
-
<inertial>
|
| 692 |
-
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 693 |
-
<mass value="0.126741777607625" />
|
| 694 |
-
<inertia
|
| 695 |
-
ixx="5.2870226427243E-05"
|
| 696 |
-
ixy="-3.41758559092594E-08"
|
| 697 |
-
ixz="1.05281937338646E-06"
|
| 698 |
-
iyy="4.14245046680039E-05"
|
| 699 |
-
iyz="-7.47381113966083E-08"
|
| 700 |
-
izz="4.46265559731496E-05" />
|
| 701 |
-
</inertial>
|
| 702 |
-
<visual>
|
| 703 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 704 |
-
<geometry>
|
| 705 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 706 |
-
</geometry>
|
| 707 |
-
<!-- <material name="black">
|
| 708 |
-
|
| 709 |
-
</material> -->
|
| 710 |
-
</visual>
|
| 711 |
-
<collision>
|
| 712 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 713 |
-
<geometry>
|
| 714 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 715 |
-
</geometry>
|
| 716 |
-
</collision>
|
| 717 |
-
</link>
|
| 718 |
-
<joint name="fl_joint5" type="revolute">
|
| 719 |
-
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 720 |
-
<parent link="fl_link4" />
|
| 721 |
-
<child link="fl_link5" />
|
| 722 |
-
<axis xyz="0 0 1" />
|
| 723 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 724 |
-
</joint>
|
| 725 |
-
<link name="fl_link6">
|
| 726 |
-
<inertial>
|
| 727 |
-
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 728 |
-
<mass value="0.142880100739169" />
|
| 729 |
-
<inertia
|
| 730 |
-
ixx="9.84190386012445E-05"
|
| 731 |
-
ixy="9.90777828593097E-08"
|
| 732 |
-
ixz="2.38841662850396E-07"
|
| 733 |
-
iyy="3.95328645641678E-05"
|
| 734 |
-
iyz="2.8992956673539E-07"
|
| 735 |
-
izz="8.4711562610471E-05" />
|
| 736 |
-
</inertial>
|
| 737 |
-
<visual>
|
| 738 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 739 |
-
<geometry>
|
| 740 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 741 |
-
</geometry>
|
| 742 |
-
<!-- <material name="black">
|
| 743 |
-
|
| 744 |
-
</material> -->
|
| 745 |
-
</visual>
|
| 746 |
-
<collision>
|
| 747 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 748 |
-
<geometry>
|
| 749 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 750 |
-
</geometry>
|
| 751 |
-
</collision>
|
| 752 |
-
</link>
|
| 753 |
-
<joint name="fl_joint6" type="revolute">
|
| 754 |
-
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 755 |
-
<parent link="fl_link5" />
|
| 756 |
-
<child link="fl_link6" />
|
| 757 |
-
<axis xyz="1 0 0" />
|
| 758 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 759 |
-
</joint>
|
| 760 |
-
|
| 761 |
-
<link name="left_camera">
|
| 762 |
-
<visual>
|
| 763 |
-
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 764 |
-
<geometry>
|
| 765 |
-
<mesh filename="aloha_maniskill_sim/meshes/d435.dae" />
|
| 766 |
-
</geometry>
|
| 767 |
-
<!-- <material name="black">
|
| 768 |
-
<color rgba="0.8 0.8 0.8 1"/>
|
| 769 |
-
</material> -->
|
| 770 |
-
</visual>
|
| 771 |
-
<collision>
|
| 772 |
-
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 773 |
-
<geometry>
|
| 774 |
-
<box size="0.025 0.090 0.025"/>
|
| 775 |
-
</geometry>
|
| 776 |
-
</collision>
|
| 777 |
-
<inertial>
|
| 778 |
-
<mass value="0.1"/>
|
| 779 |
-
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 780 |
-
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
| 781 |
-
</inertial>
|
| 782 |
-
</link>
|
| 783 |
-
|
| 784 |
-
<joint name="left_camera_joint" type="fixed">
|
| 785 |
-
<parent link="fl_link6"/>
|
| 786 |
-
<child link="left_camera"/>
|
| 787 |
-
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/>
|
| 788 |
-
</joint>
|
| 789 |
-
|
| 790 |
-
<link name="fl_link7">
|
| 791 |
-
<inertial>
|
| 792 |
-
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" />
|
| 793 |
-
<mass value="0.0264779585598598" />
|
| 794 |
-
<inertia
|
| 795 |
-
ixx="8.79642526953154E-06"
|
| 796 |
-
ixy="3.0244685599285E-06"
|
| 797 |
-
ixz="-5.99353466596085E-07"
|
| 798 |
-
iyy="1.48519274221679E-05"
|
| 799 |
-
iyz="1.31550651321036E-07"
|
| 800 |
-
izz="1.1114142640444E-05" />
|
| 801 |
-
</inertial>
|
| 802 |
-
<visual>
|
| 803 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 804 |
-
<geometry>
|
| 805 |
-
<mesh filename="aloha_maniskill_sim/meshes/link7.dae" />
|
| 806 |
-
</geometry>
|
| 807 |
-
<!-- <material name="black">
|
| 808 |
-
|
| 809 |
-
</material> -->
|
| 810 |
-
</visual>
|
| 811 |
-
<collision>
|
| 812 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 813 |
-
<geometry>
|
| 814 |
-
<mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
|
| 815 |
-
</geometry>
|
| 816 |
-
</collision>
|
| 817 |
-
</link>
|
| 818 |
-
<joint name="fl_joint7" type="prismatic">
|
| 819 |
-
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" />
|
| 820 |
-
<parent link="fl_link6" />
|
| 821 |
-
<child link="fl_link7" />
|
| 822 |
-
<axis xyz="0 1 0" />
|
| 823 |
-
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 824 |
-
</joint>
|
| 825 |
-
<link name="fl_link8">
|
| 826 |
-
<inertial>
|
| 827 |
-
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" />
|
| 828 |
-
<mass value="0.0264779581346586" />
|
| 829 |
-
<inertia
|
| 830 |
-
ixx="9.01311523396113E-06"
|
| 831 |
-
ixy="-3.02446856817399E-06"
|
| 832 |
-
ixz="1.52593574709739E-06"
|
| 833 |
-
iyy="1.50686174477573E-05"
|
| 834 |
-
iyz="5.73251417689975E-07"
|
| 835 |
-
izz="1.11141426397578E-05" />
|
| 836 |
-
</inertial>
|
| 837 |
-
<visual>
|
| 838 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 839 |
-
<geometry>
|
| 840 |
-
<mesh filename="aloha_maniskill_sim/meshes/link8.dae" />
|
| 841 |
-
</geometry>
|
| 842 |
-
<!-- <material name="black">
|
| 843 |
-
|
| 844 |
-
</material> -->
|
| 845 |
-
</visual>
|
| 846 |
-
<collision>
|
| 847 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 848 |
-
<geometry>
|
| 849 |
-
<mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
|
| 850 |
-
</geometry>
|
| 851 |
-
</collision>
|
| 852 |
-
</link>
|
| 853 |
-
<joint name="fl_joint8" type="prismatic">
|
| 854 |
-
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" />
|
| 855 |
-
<parent link="fl_link6" />
|
| 856 |
-
<child link="fl_link8" />
|
| 857 |
-
<axis xyz="0 -1 0" />
|
| 858 |
-
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 859 |
-
</joint>
|
| 860 |
-
<!--***************************** front-right ****************************** -->
|
| 861 |
-
<link name="fr_base_link">
|
| 862 |
-
<inertial>
|
| 863 |
-
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 864 |
-
<mass value="0.155112526591278" />
|
| 865 |
-
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 866 |
-
</inertial>
|
| 867 |
-
<visual>
|
| 868 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 869 |
-
<geometry>
|
| 870 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 871 |
-
</geometry>
|
| 872 |
-
<!-- <material name="black">
|
| 873 |
-
|
| 874 |
-
</material> -->
|
| 875 |
-
</visual>
|
| 876 |
-
<collision>
|
| 877 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 878 |
-
<geometry>
|
| 879 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 880 |
-
</geometry>
|
| 881 |
-
</collision>
|
| 882 |
-
</link>
|
| 883 |
-
|
| 884 |
-
<joint name="fr_base_joint" type="fixed">
|
| 885 |
-
<origin xyz="0.2315 -0.3063 0.781" rpy="0.0 0.0 0.01" />
|
| 886 |
-
<parent link="footprint" />
|
| 887 |
-
<child link="fr_base_link" />
|
| 888 |
-
<axis xyz="0.0 0.0 1.0" />
|
| 889 |
-
</joint>
|
| 890 |
-
|
| 891 |
-
<link name="fr_link1">
|
| 892 |
-
<inertial>
|
| 893 |
-
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 894 |
-
<mass value="0.0216291264377367" />
|
| 895 |
-
<inertia
|
| 896 |
-
ixx="1.15756471313396E-05"
|
| 897 |
-
ixy="1.63728784702967E-06"
|
| 898 |
-
ixz="-2.73767909517805E-06"
|
| 899 |
-
iyy="9.54605859943272E-06"
|
| 900 |
-
iyz="3.01605409074901E-06"
|
| 901 |
-
izz="1.06781021447089E-05" />
|
| 902 |
-
</inertial>
|
| 903 |
-
<visual>
|
| 904 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 905 |
-
<geometry>
|
| 906 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 907 |
-
</geometry>
|
| 908 |
-
<!-- <material name="black">
|
| 909 |
-
|
| 910 |
-
</material> -->
|
| 911 |
-
</visual>
|
| 912 |
-
<collision>
|
| 913 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 914 |
-
<geometry>
|
| 915 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 916 |
-
</geometry>
|
| 917 |
-
</collision>
|
| 918 |
-
</link>
|
| 919 |
-
<joint name="fr_joint1" type="revolute">
|
| 920 |
-
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 921 |
-
<parent link="fr_base_link" />
|
| 922 |
-
<child link="fr_link1" />
|
| 923 |
-
<axis xyz="0 0 1" />
|
| 924 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 925 |
-
</joint>
|
| 926 |
-
<link
|
| 927 |
-
name="fr_link2">
|
| 928 |
-
<inertial>
|
| 929 |
-
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 930 |
-
<mass value="0.317040634327494" />
|
| 931 |
-
<inertia
|
| 932 |
-
ixx="0.000148622978788109"
|
| 933 |
-
ixy="7.9939701538228E-06"
|
| 934 |
-
ixz="2.11594522192149E-06"
|
| 935 |
-
iyy="0.000646291918352959"
|
| 936 |
-
iyz="-1.99305353242084E-08"
|
| 937 |
-
izz="0.000613128041834933" />
|
| 938 |
-
</inertial>
|
| 939 |
-
<visual>
|
| 940 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 941 |
-
<geometry>
|
| 942 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 943 |
-
</geometry>
|
| 944 |
-
<!-- <material name="black">
|
| 945 |
-
|
| 946 |
-
</material> -->
|
| 947 |
-
</visual>
|
| 948 |
-
<collision>
|
| 949 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 950 |
-
<geometry>
|
| 951 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 952 |
-
</geometry>
|
| 953 |
-
</collision>
|
| 954 |
-
</link>
|
| 955 |
-
<joint name="fr_joint2" type="revolute">
|
| 956 |
-
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 957 |
-
<parent link="fr_link1" />
|
| 958 |
-
<child link="fr_link2" />
|
| 959 |
-
<axis xyz="0 1 0" />
|
| 960 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 961 |
-
</joint>
|
| 962 |
-
<link
|
| 963 |
-
name="fr_link3">
|
| 964 |
-
<inertial>
|
| 965 |
-
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 966 |
-
<mass value="0.475179901151789" />
|
| 967 |
-
<inertia
|
| 968 |
-
ixx="0.000245797731408424"
|
| 969 |
-
ixy="-1.18756934981885E-06"
|
| 970 |
-
ixz="-3.08627546217305E-07"
|
| 971 |
-
iyy="0.000848596965773723"
|
| 972 |
-
iyz="2.1655980060709E-07"
|
| 973 |
-
izz="0.00073290848648715" />
|
| 974 |
-
</inertial>
|
| 975 |
-
<visual>
|
| 976 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 977 |
-
<geometry>
|
| 978 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 979 |
-
</geometry>
|
| 980 |
-
<!-- <material name="white">
|
| 981 |
-
|
| 982 |
-
</material> -->
|
| 983 |
-
</visual>
|
| 984 |
-
<collision>
|
| 985 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 986 |
-
<geometry>
|
| 987 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 988 |
-
</geometry>
|
| 989 |
-
</collision>
|
| 990 |
-
</link>
|
| 991 |
-
<joint name="fr_joint3" type="revolute">
|
| 992 |
-
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 993 |
-
<parent link="fr_link2" />
|
| 994 |
-
<child link="fr_link3" />
|
| 995 |
-
<axis xyz="0 1 0" />
|
| 996 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 997 |
-
</joint>
|
| 998 |
-
<link
|
| 999 |
-
name="fr_link4">
|
| 1000 |
-
<inertial>
|
| 1001 |
-
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 1002 |
-
<mass value="0.138133633872797" />
|
| 1003 |
-
<inertia
|
| 1004 |
-
ixx="5.6812931750694E-05"
|
| 1005 |
-
ixy="3.18564570369191E-06"
|
| 1006 |
-
ixz="3.31187610383292E-06"
|
| 1007 |
-
iyy="5.56751697137782E-05"
|
| 1008 |
-
iyz="-2.13897740775086E-06"
|
| 1009 |
-
izz="6.42957251144152E-05" />
|
| 1010 |
-
</inertial>
|
| 1011 |
-
<visual>
|
| 1012 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1013 |
-
<geometry>
|
| 1014 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1015 |
-
</geometry>
|
| 1016 |
-
<!-- <material name="black">
|
| 1017 |
-
|
| 1018 |
-
</material> -->
|
| 1019 |
-
</visual>
|
| 1020 |
-
<collision>
|
| 1021 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1022 |
-
<geometry>
|
| 1023 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1024 |
-
</geometry>
|
| 1025 |
-
</collision>
|
| 1026 |
-
</link>
|
| 1027 |
-
<joint name="fr_joint4" type="revolute">
|
| 1028 |
-
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 1029 |
-
<parent link="fr_link3" />
|
| 1030 |
-
<child link="fr_link4" />
|
| 1031 |
-
<axis xyz="0 1 0" />
|
| 1032 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1033 |
-
</joint>
|
| 1034 |
-
<link
|
| 1035 |
-
name="fr_link5">
|
| 1036 |
-
<inertial>
|
| 1037 |
-
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 1038 |
-
<mass value="0.126741777607625" />
|
| 1039 |
-
<inertia
|
| 1040 |
-
ixx="5.2870226427243E-05"
|
| 1041 |
-
ixy="-3.41758559092594E-08"
|
| 1042 |
-
ixz="1.05281937338646E-06"
|
| 1043 |
-
iyy="4.14245046680039E-05"
|
| 1044 |
-
iyz="-7.47381113966083E-08"
|
| 1045 |
-
izz="4.46265559731496E-05" />
|
| 1046 |
-
</inertial>
|
| 1047 |
-
<visual>
|
| 1048 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1049 |
-
<geometry>
|
| 1050 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1051 |
-
</geometry>
|
| 1052 |
-
<!-- <material name="black">
|
| 1053 |
-
|
| 1054 |
-
</material> -->
|
| 1055 |
-
</visual>
|
| 1056 |
-
<collision>
|
| 1057 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1058 |
-
<geometry>
|
| 1059 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1060 |
-
</geometry>
|
| 1061 |
-
</collision>
|
| 1062 |
-
</link>
|
| 1063 |
-
<joint name="fr_joint5" type="revolute">
|
| 1064 |
-
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 1065 |
-
<parent link="fr_link4" />
|
| 1066 |
-
<child link="fr_link5" />
|
| 1067 |
-
<axis xyz="0 0 1" />
|
| 1068 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1069 |
-
</joint>
|
| 1070 |
-
<link name="fr_link6">
|
| 1071 |
-
<inertial>
|
| 1072 |
-
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 1073 |
-
<mass value="0.142880100739169" />
|
| 1074 |
-
<inertia
|
| 1075 |
-
ixx="9.84190386012445E-05"
|
| 1076 |
-
ixy="9.90777828593097E-08"
|
| 1077 |
-
ixz="2.38841662850396E-07"
|
| 1078 |
-
iyy="3.95328645641678E-05"
|
| 1079 |
-
iyz="2.8992956673539E-07"
|
| 1080 |
-
izz="8.4711562610471E-05" />
|
| 1081 |
-
</inertial>
|
| 1082 |
-
<visual>
|
| 1083 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1084 |
-
<geometry>
|
| 1085 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1086 |
-
</geometry>
|
| 1087 |
-
<!-- <material name="black">
|
| 1088 |
-
</material> -->
|
| 1089 |
-
</visual>
|
| 1090 |
-
<collision>
|
| 1091 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1092 |
-
<geometry>
|
| 1093 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1094 |
-
</geometry>
|
| 1095 |
-
</collision>
|
| 1096 |
-
</link>
|
| 1097 |
-
<joint name="fr_joint6" type="revolute">
|
| 1098 |
-
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 1099 |
-
<parent link="fr_link5" />
|
| 1100 |
-
<child link="fr_link6" />
|
| 1101 |
-
<axis xyz="1 0 0" />
|
| 1102 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1103 |
-
</joint>
|
| 1104 |
-
|
| 1105 |
-
|
| 1106 |
-
<link name="right_camera">
|
| 1107 |
-
<visual>
|
| 1108 |
-
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 1109 |
-
<geometry>
|
| 1110 |
-
<mesh filename="aloha_maniskill_sim/meshes/d435.dae" />
|
| 1111 |
-
</geometry>
|
| 1112 |
-
<!-- <material name="black">
|
| 1113 |
-
<color rgba="0 0 0.1 1"/>
|
| 1114 |
-
</material> -->
|
| 1115 |
-
</visual>
|
| 1116 |
-
<collision>
|
| 1117 |
-
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 1118 |
-
<geometry>
|
| 1119 |
-
<box size="0.025 0.090 0.025"/>
|
| 1120 |
-
</geometry>
|
| 1121 |
-
</collision>
|
| 1122 |
-
<inertial>
|
| 1123 |
-
<mass value="0.1"/>
|
| 1124 |
-
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1125 |
-
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
| 1126 |
-
</inertial>
|
| 1127 |
-
</link>
|
| 1128 |
-
|
| 1129 |
-
<joint name="right_camera_joint" type="fixed">
|
| 1130 |
-
<parent link="fr_link6"/>
|
| 1131 |
-
<child link="right_camera"/>
|
| 1132 |
-
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/>
|
| 1133 |
-
</joint>
|
| 1134 |
-
|
| 1135 |
-
<link name="fr_link7">
|
| 1136 |
-
<inertial>
|
| 1137 |
-
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" />
|
| 1138 |
-
<mass value="0.0264779585598598" />
|
| 1139 |
-
<inertia
|
| 1140 |
-
ixx="8.79642526953154E-06"
|
| 1141 |
-
ixy="3.0244685599285E-06"
|
| 1142 |
-
ixz="-5.99353466596085E-07"
|
| 1143 |
-
iyy="1.48519274221679E-05"
|
| 1144 |
-
iyz="1.31550651321036E-07"
|
| 1145 |
-
izz="1.1114142640444E-05" />
|
| 1146 |
-
</inertial>
|
| 1147 |
-
<visual>
|
| 1148 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1149 |
-
<geometry>
|
| 1150 |
-
<mesh filename="aloha_maniskill_sim/meshes/link7.dae" />
|
| 1151 |
-
</geometry>
|
| 1152 |
-
<!-- <material name="black">
|
| 1153 |
-
</material> -->
|
| 1154 |
-
</visual>
|
| 1155 |
-
<collision>
|
| 1156 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1157 |
-
<geometry>
|
| 1158 |
-
<mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
|
| 1159 |
-
</geometry>
|
| 1160 |
-
</collision>
|
| 1161 |
-
</link>
|
| 1162 |
-
<joint name="fr_joint7" type="prismatic">
|
| 1163 |
-
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" />
|
| 1164 |
-
<parent link="fr_link6" />
|
| 1165 |
-
<child link="fr_link7" />
|
| 1166 |
-
<axis xyz="0 1 0" />
|
| 1167 |
-
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1168 |
-
</joint>
|
| 1169 |
-
<link name="fr_link8">
|
| 1170 |
-
<inertial>
|
| 1171 |
-
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" />
|
| 1172 |
-
<mass value="0.0264779581346586" />
|
| 1173 |
-
<inertia
|
| 1174 |
-
ixx="9.01311523396113E-06"
|
| 1175 |
-
ixy="-3.02446856817399E-06"
|
| 1176 |
-
ixz="1.52593574709739E-06"
|
| 1177 |
-
iyy="1.50686174477573E-05"
|
| 1178 |
-
iyz="5.73251417689975E-07"
|
| 1179 |
-
izz="1.11141426397578E-05" />
|
| 1180 |
-
</inertial>
|
| 1181 |
-
<visual>
|
| 1182 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1183 |
-
<geometry>
|
| 1184 |
-
<mesh filename="aloha_maniskill_sim/meshes/link8.dae" />
|
| 1185 |
-
</geometry>
|
| 1186 |
-
<!-- <material name="black">
|
| 1187 |
-
</material> -->
|
| 1188 |
-
</visual>
|
| 1189 |
-
<collision>
|
| 1190 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1191 |
-
<geometry>
|
| 1192 |
-
<mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
|
| 1193 |
-
</geometry>
|
| 1194 |
-
</collision>
|
| 1195 |
-
</link>
|
| 1196 |
-
<joint name="fr_joint8" type="prismatic">
|
| 1197 |
-
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" />
|
| 1198 |
-
<parent link="fr_link6" />
|
| 1199 |
-
<child link="fr_link8" />
|
| 1200 |
-
<axis xyz="0 -1 0" />
|
| 1201 |
-
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1202 |
-
</joint>
|
| 1203 |
-
<!--***************************** left-rear ****************************** -->
|
| 1204 |
-
<link name="lr_base_link">
|
| 1205 |
-
<inertial>
|
| 1206 |
-
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1207 |
-
<mass value="0.44038" />
|
| 1208 |
-
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1209 |
-
</inertial>
|
| 1210 |
-
<visual>
|
| 1211 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1212 |
-
<geometry>
|
| 1213 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1214 |
-
</geometry>
|
| 1215 |
-
<!-- <material name="black">
|
| 1216 |
-
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1217 |
-
</material> -->
|
| 1218 |
-
</visual>
|
| 1219 |
-
<collision>
|
| 1220 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1221 |
-
<geometry>
|
| 1222 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1223 |
-
</geometry>
|
| 1224 |
-
</collision>
|
| 1225 |
-
</link>
|
| 1226 |
-
<joint name="lr_base_joint" type="fixed">
|
| 1227 |
-
<origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1228 |
-
<parent link="footprint" />
|
| 1229 |
-
<child link="lr_base_link" />
|
| 1230 |
-
<axis xyz="0.0 0.0 1.0" />
|
| 1231 |
-
</joint>
|
| 1232 |
-
<link name="lr_link1">
|
| 1233 |
-
<inertial>
|
| 1234 |
-
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1235 |
-
<mass value="0.0608351104988555" />
|
| 1236 |
-
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1237 |
-
</inertial>
|
| 1238 |
-
<visual>
|
| 1239 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1240 |
-
<geometry>
|
| 1241 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 1242 |
-
</geometry>
|
| 1243 |
-
<!-- <material name="black">
|
| 1244 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1245 |
-
</material> -->
|
| 1246 |
-
</visual>
|
| 1247 |
-
<collision>
|
| 1248 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1249 |
-
<geometry>
|
| 1250 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 1251 |
-
</geometry>
|
| 1252 |
-
</collision>
|
| 1253 |
-
</link>
|
| 1254 |
-
<joint name="lr_joint1" type="revolute">
|
| 1255 |
-
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1256 |
-
<parent link="lr_base_link" />
|
| 1257 |
-
<child link="lr_link1" />
|
| 1258 |
-
<axis xyz="0 0 1" />
|
| 1259 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1260 |
-
</joint>
|
| 1261 |
-
<link name="lr_link2">
|
| 1262 |
-
<inertial>
|
| 1263 |
-
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1264 |
-
<mass value="1.0733279014126" />
|
| 1265 |
-
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1266 |
-
</inertial>
|
| 1267 |
-
<visual>
|
| 1268 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1269 |
-
<geometry>
|
| 1270 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 1271 |
-
</geometry>
|
| 1272 |
-
<!-- <material name="black">
|
| 1273 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1274 |
-
</material> -->
|
| 1275 |
-
</visual>
|
| 1276 |
-
<collision>
|
| 1277 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1278 |
-
<geometry>
|
| 1279 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 1280 |
-
</geometry>
|
| 1281 |
-
</collision>
|
| 1282 |
-
</link>
|
| 1283 |
-
<joint name="lr_joint2" type="revolute">
|
| 1284 |
-
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1285 |
-
<parent link="lr_link1" />
|
| 1286 |
-
<child link="lr_link2" />
|
| 1287 |
-
<axis xyz="0 1 0" />
|
| 1288 |
-
<dynamics damping="0.0" friction="100.0"/>
|
| 1289 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1290 |
-
</joint>
|
| 1291 |
-
<link name="lr_link3">
|
| 1292 |
-
<inertial>
|
| 1293 |
-
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1294 |
-
<mass value="0.499404738025019" />
|
| 1295 |
-
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1296 |
-
</inertial>
|
| 1297 |
-
<visual>
|
| 1298 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1299 |
-
<geometry>
|
| 1300 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 1301 |
-
</geometry>
|
| 1302 |
-
<!-- <material name="white">
|
| 1303 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1304 |
-
</material> -->
|
| 1305 |
-
</visual>
|
| 1306 |
-
<collision>
|
| 1307 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1308 |
-
<geometry>
|
| 1309 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 1310 |
-
</geometry>
|
| 1311 |
-
</collision>
|
| 1312 |
-
</link>
|
| 1313 |
-
<joint name="lr_joint3" type="revolute">
|
| 1314 |
-
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1315 |
-
<parent link="lr_link2" />
|
| 1316 |
-
<child link="lr_link3" />
|
| 1317 |
-
<axis xyz="0 1 0" />
|
| 1318 |
-
<dynamics damping="0.0" friction="100.0"/>
|
| 1319 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1320 |
-
</joint>
|
| 1321 |
-
<link name="lr_link4">
|
| 1322 |
-
<inertial>
|
| 1323 |
-
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1324 |
-
<mass value="0.0809712553169999" />
|
| 1325 |
-
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1326 |
-
</inertial>
|
| 1327 |
-
<visual>
|
| 1328 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1329 |
-
<geometry>
|
| 1330 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1331 |
-
</geometry>
|
| 1332 |
-
<!-- <material name="black">
|
| 1333 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1334 |
-
</material> -->
|
| 1335 |
-
</visual>
|
| 1336 |
-
<collision>
|
| 1337 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1338 |
-
<geometry>
|
| 1339 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1340 |
-
</geometry>
|
| 1341 |
-
</collision>
|
| 1342 |
-
</link>
|
| 1343 |
-
<joint name="lr_joint4" type="revolute">
|
| 1344 |
-
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1345 |
-
<parent link="lr_link3" />
|
| 1346 |
-
<child link="lr_link4" />
|
| 1347 |
-
<axis xyz="0 1 0" />
|
| 1348 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1349 |
-
</joint>
|
| 1350 |
-
<link name="lr_link5">
|
| 1351 |
-
<inertial>
|
| 1352 |
-
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1353 |
-
<mass value="0.602357399313257" />
|
| 1354 |
-
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1355 |
-
</inertial>
|
| 1356 |
-
<visual>
|
| 1357 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1358 |
-
<geometry>
|
| 1359 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1360 |
-
</geometry>
|
| 1361 |
-
<!-- <material name="black">
|
| 1362 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1363 |
-
</material> -->
|
| 1364 |
-
</visual>
|
| 1365 |
-
<collision>
|
| 1366 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1367 |
-
<geometry>
|
| 1368 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1369 |
-
</geometry>
|
| 1370 |
-
</collision>
|
| 1371 |
-
</link>
|
| 1372 |
-
<joint name="lr_joint5" type="revolute">
|
| 1373 |
-
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1374 |
-
<parent link="lr_link4" />
|
| 1375 |
-
<child link="lr_link5" />
|
| 1376 |
-
<axis xyz="0 0 1" />
|
| 1377 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1378 |
-
</joint>
|
| 1379 |
-
<link name="lr_link6">
|
| 1380 |
-
<inertial>
|
| 1381 |
-
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1382 |
-
<mass value="0.462244960775882" />
|
| 1383 |
-
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1384 |
-
</inertial>
|
| 1385 |
-
<visual>
|
| 1386 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1387 |
-
<geometry>
|
| 1388 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1389 |
-
</geometry>
|
| 1390 |
-
<!-- <material name="black">
|
| 1391 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1392 |
-
</material> -->
|
| 1393 |
-
</visual>
|
| 1394 |
-
<collision>
|
| 1395 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1396 |
-
<geometry>
|
| 1397 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1398 |
-
</geometry>
|
| 1399 |
-
</collision>
|
| 1400 |
-
</link>
|
| 1401 |
-
<joint name="lr_joint6" type="revolute">
|
| 1402 |
-
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1403 |
-
<parent link="lr_link5" />
|
| 1404 |
-
<child link="lr_link6" />
|
| 1405 |
-
<axis xyz="1 0 0" />
|
| 1406 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1407 |
-
</joint>
|
| 1408 |
-
<link name="lr_link7">
|
| 1409 |
-
<inertial>
|
| 1410 |
-
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1411 |
-
<mass value="0.0484016660227936" />
|
| 1412 |
-
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1413 |
-
</inertial>
|
| 1414 |
-
<visual>
|
| 1415 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1416 |
-
<geometry>
|
| 1417 |
-
<mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1418 |
-
</geometry>
|
| 1419 |
-
<!-- <material name="black">
|
| 1420 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1421 |
-
</material> -->
|
| 1422 |
-
</visual>
|
| 1423 |
-
<collision>
|
| 1424 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1425 |
-
<geometry>
|
| 1426 |
-
<mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1427 |
-
</geometry>
|
| 1428 |
-
</collision>
|
| 1429 |
-
</link>
|
| 1430 |
-
<joint name="lr_joint7" type="fixed">
|
| 1431 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1432 |
-
<parent link="lr_link6" />
|
| 1433 |
-
<child link="lr_link7" />
|
| 1434 |
-
<axis xyz="0 0 1" />
|
| 1435 |
-
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1436 |
-
</joint>
|
| 1437 |
-
|
| 1438 |
-
|
| 1439 |
-
<!--***************************** right-rear ****************************** -->
|
| 1440 |
-
<link name="rr_base_link">
|
| 1441 |
-
<inertial>
|
| 1442 |
-
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1443 |
-
<mass value="0.44038" />
|
| 1444 |
-
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1445 |
-
</inertial>
|
| 1446 |
-
<visual>
|
| 1447 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1448 |
-
<geometry>
|
| 1449 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1450 |
-
</geometry>
|
| 1451 |
-
<!-- <material name="black">
|
| 1452 |
-
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1453 |
-
</material> -->
|
| 1454 |
-
</visual>
|
| 1455 |
-
<collision>
|
| 1456 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1457 |
-
<geometry>
|
| 1458 |
-
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1459 |
-
</geometry>
|
| 1460 |
-
</collision>
|
| 1461 |
-
</link>
|
| 1462 |
-
<joint name="rr_base_joint" type="fixed">
|
| 1463 |
-
<origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1464 |
-
<parent link="footprint" />
|
| 1465 |
-
<child link="rr_base_link" />
|
| 1466 |
-
<axis xyz="0.0 0.0 1.0" />
|
| 1467 |
-
</joint>
|
| 1468 |
-
<link name="rr_link1">
|
| 1469 |
-
<inertial>
|
| 1470 |
-
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1471 |
-
<mass value="0.0608351104988555" />
|
| 1472 |
-
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1473 |
-
</inertial>
|
| 1474 |
-
<visual>
|
| 1475 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1476 |
-
<geometry>
|
| 1477 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 1478 |
-
</geometry>
|
| 1479 |
-
<!-- <material name="black">
|
| 1480 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1481 |
-
</material> -->
|
| 1482 |
-
</visual>
|
| 1483 |
-
<collision>
|
| 1484 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1485 |
-
<geometry>
|
| 1486 |
-
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 1487 |
-
</geometry>
|
| 1488 |
-
</collision>
|
| 1489 |
-
</link>
|
| 1490 |
-
<joint name="rr_joint1" type="revolute">
|
| 1491 |
-
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1492 |
-
<parent link="rr_base_link" />
|
| 1493 |
-
<child link="rr_link1" />
|
| 1494 |
-
<axis xyz="0 0 1" />
|
| 1495 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1496 |
-
</joint>
|
| 1497 |
-
<link name="rr_link2">
|
| 1498 |
-
<inertial>
|
| 1499 |
-
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1500 |
-
<mass value="1.0733279014126" />
|
| 1501 |
-
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1502 |
-
</inertial>
|
| 1503 |
-
<visual>
|
| 1504 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1505 |
-
<geometry>
|
| 1506 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 1507 |
-
</geometry>
|
| 1508 |
-
<!-- <material name="black">
|
| 1509 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1510 |
-
</material> -->
|
| 1511 |
-
</visual>
|
| 1512 |
-
<collision>
|
| 1513 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1514 |
-
<geometry>
|
| 1515 |
-
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 1516 |
-
</geometry>
|
| 1517 |
-
</collision>
|
| 1518 |
-
</link>
|
| 1519 |
-
<joint name="rr_joint2" type="revolute">
|
| 1520 |
-
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1521 |
-
<parent link="rr_link1" />
|
| 1522 |
-
<child link="rr_link2" />
|
| 1523 |
-
<axis xyz="0 1 0" />
|
| 1524 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1525 |
-
</joint>
|
| 1526 |
-
<link name="rr_link3">
|
| 1527 |
-
<inertial>
|
| 1528 |
-
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1529 |
-
<mass value="0.499404738025019" />
|
| 1530 |
-
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1531 |
-
</inertial>
|
| 1532 |
-
<visual>
|
| 1533 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1534 |
-
<geometry>
|
| 1535 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 1536 |
-
</geometry>
|
| 1537 |
-
<!-- <material name="white">
|
| 1538 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1539 |
-
</material> -->
|
| 1540 |
-
</visual>
|
| 1541 |
-
<collision>
|
| 1542 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1543 |
-
<geometry>
|
| 1544 |
-
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 1545 |
-
</geometry>
|
| 1546 |
-
</collision>
|
| 1547 |
-
</link>
|
| 1548 |
-
<joint name="rr_joint3" type="revolute">
|
| 1549 |
-
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1550 |
-
<parent link="rr_link2" />
|
| 1551 |
-
<child link="rr_link3" />
|
| 1552 |
-
<axis xyz="0 1 0" />
|
| 1553 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1554 |
-
</joint>
|
| 1555 |
-
<link name="rr_link4">
|
| 1556 |
-
<inertial>
|
| 1557 |
-
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1558 |
-
<mass value="0.0809712553169999" />
|
| 1559 |
-
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1560 |
-
</inertial>
|
| 1561 |
-
<visual>
|
| 1562 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1563 |
-
<geometry>
|
| 1564 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1565 |
-
</geometry>
|
| 1566 |
-
<!-- <material name="black">
|
| 1567 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1568 |
-
</material> -->
|
| 1569 |
-
</visual>
|
| 1570 |
-
<collision>
|
| 1571 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1572 |
-
<geometry>
|
| 1573 |
-
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1574 |
-
</geometry>
|
| 1575 |
-
</collision>
|
| 1576 |
-
</link>
|
| 1577 |
-
<joint name="rr_joint4" type="revolute">
|
| 1578 |
-
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1579 |
-
<parent link="rr_link3" />
|
| 1580 |
-
<child link="rr_link4" />
|
| 1581 |
-
<axis xyz="0 1 0" />
|
| 1582 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1583 |
-
</joint>
|
| 1584 |
-
<link name="rr_link5">
|
| 1585 |
-
<inertial>
|
| 1586 |
-
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1587 |
-
<mass value="0.602357399313257" />
|
| 1588 |
-
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1589 |
-
</inertial>
|
| 1590 |
-
<visual>
|
| 1591 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1592 |
-
<geometry>
|
| 1593 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1594 |
-
</geometry>
|
| 1595 |
-
<!-- <material name="black">
|
| 1596 |
-
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1597 |
-
</material> -->
|
| 1598 |
-
</visual>
|
| 1599 |
-
<collision>
|
| 1600 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1601 |
-
<geometry>
|
| 1602 |
-
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1603 |
-
</geometry>
|
| 1604 |
-
</collision>
|
| 1605 |
-
</link>
|
| 1606 |
-
<joint name="rr_joint5" type="revolute">
|
| 1607 |
-
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1608 |
-
<parent link="rr_link4" />
|
| 1609 |
-
<child link="rr_link5" />
|
| 1610 |
-
<axis xyz="0 0 1" />
|
| 1611 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1612 |
-
</joint>
|
| 1613 |
-
<link name="rr_link6">
|
| 1614 |
-
<inertial>
|
| 1615 |
-
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1616 |
-
<mass value="0.462244960775882" />
|
| 1617 |
-
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1618 |
-
</inertial>
|
| 1619 |
-
<visual>
|
| 1620 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1621 |
-
<geometry>
|
| 1622 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1623 |
-
</geometry>
|
| 1624 |
-
<!-- <material name="black">
|
| 1625 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1626 |
-
</material> -->
|
| 1627 |
-
</visual>
|
| 1628 |
-
<collision>
|
| 1629 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1630 |
-
<geometry>
|
| 1631 |
-
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1632 |
-
</geometry>
|
| 1633 |
-
</collision>
|
| 1634 |
-
</link>
|
| 1635 |
-
<joint name="rr_joint6" type="revolute">
|
| 1636 |
-
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1637 |
-
<parent link="rr_link5" />
|
| 1638 |
-
<child link="rr_link6" />
|
| 1639 |
-
<axis xyz="1 0 0" />
|
| 1640 |
-
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1641 |
-
</joint>
|
| 1642 |
-
<link name="rr_link7">
|
| 1643 |
-
<inertial>
|
| 1644 |
-
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1645 |
-
<mass value="0.0484016660227936" />
|
| 1646 |
-
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1647 |
-
</inertial>
|
| 1648 |
-
<visual>
|
| 1649 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1650 |
-
<geometry>
|
| 1651 |
-
<mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1652 |
-
</geometry>
|
| 1653 |
-
<!-- <material name="black">
|
| 1654 |
-
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1655 |
-
</material> -->
|
| 1656 |
-
</visual>
|
| 1657 |
-
<collision>
|
| 1658 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1659 |
-
<geometry>
|
| 1660 |
-
<mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1661 |
-
</geometry>
|
| 1662 |
-
</collision>
|
| 1663 |
-
</link>
|
| 1664 |
-
<joint name="rr_joint7" type="fixed">
|
| 1665 |
-
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1666 |
-
<parent link="rr_link6" />
|
| 1667 |
-
<child link="rr_link7" />
|
| 1668 |
-
<axis xyz="0 0 1" />
|
| 1669 |
-
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1670 |
-
</joint>
|
| 1671 |
-
|
| 1672 |
-
|
| 1673 |
-
|
| 1674 |
-
</robot>
|
| 1675 |
-
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:097c59fb19a7b482249c6097df8319586ea7cfd268c015516f103b289a7e761a
|
| 3 |
+
size 61574
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/franka-panda/collision_franka.yml
CHANGED
|
@@ -1,144 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
| 5 |
-
## property and proprietary rights in and to this material, related
|
| 6 |
-
## documentation and any modifications thereto. Any use, reproduction,
|
| 7 |
-
## disclosure or distribution of this material and related documentation
|
| 8 |
-
## without an express license agreement from NVIDIA CORPORATION or
|
| 9 |
-
## its affiliates is strictly prohibited.
|
| 10 |
-
##
|
| 11 |
-
collision_spheres:
|
| 12 |
-
panda_link0:
|
| 13 |
-
- "center": [0.0, 0.0, 0.085]
|
| 14 |
-
"radius": 0.03 #0.07
|
| 15 |
-
- "center": [-0.1, -0.0, 0.085]
|
| 16 |
-
"radius": 0.03 #0.07
|
| 17 |
-
panda_link1:
|
| 18 |
-
- "center": [0.0, -0.08, 0.0]
|
| 19 |
-
"radius": 0.055
|
| 20 |
-
- "center": [0.0, -0.03, 0.0]
|
| 21 |
-
"radius": 0.06
|
| 22 |
-
- "center": [0.0, 0.0, -0.12]
|
| 23 |
-
"radius": 0.06
|
| 24 |
-
- "center": [0.0, 0.0, -0.17]
|
| 25 |
-
"radius": 0.06
|
| 26 |
-
panda_link2:
|
| 27 |
-
- "center": [0.0, 0.0, 0.03]
|
| 28 |
-
"radius": 0.055
|
| 29 |
-
- "center": [0.0, 0.0, 0.08]
|
| 30 |
-
"radius": 0.055
|
| 31 |
-
- "center": [0.0, -0.12, 0.0]
|
| 32 |
-
"radius": 0.055
|
| 33 |
-
- "center": [0.0, -0.17, 0.0]
|
| 34 |
-
"radius": 0.055
|
| 35 |
-
panda_link3:
|
| 36 |
-
- "center": [0.0, 0.0, -0.06]
|
| 37 |
-
"radius": 0.05
|
| 38 |
-
- "center": [0.0, 0.0, -0.1]
|
| 39 |
-
"radius": 0.06
|
| 40 |
-
- "center": [0.08, 0.06, 0.0]
|
| 41 |
-
"radius": 0.052
|
| 42 |
-
- "center": [0.08, 0.02, 0.0]
|
| 43 |
-
"radius": 0.052
|
| 44 |
-
panda_link4:
|
| 45 |
-
- "center": [0.0, 0.0, 0.02]
|
| 46 |
-
"radius": 0.052
|
| 47 |
-
- "center": [0.0, 0.0, 0.06]
|
| 48 |
-
"radius": 0.052
|
| 49 |
-
- "center": [-0.08, 0.095, 0.0]
|
| 50 |
-
"radius": 0.055
|
| 51 |
-
- "center": [-0.08, 0.06, 0.0]
|
| 52 |
-
"radius": 0.052
|
| 53 |
-
panda_link5:
|
| 54 |
-
- "center": [0.0, 0.03, 0.0]
|
| 55 |
-
"radius": 0.05
|
| 56 |
-
- "center": [0.0, 0.082, 0.0]
|
| 57 |
-
"radius": 0.05
|
| 58 |
-
- "center": [0.0, 0.000, -0.22]
|
| 59 |
-
"radius": 0.05
|
| 60 |
-
- "center": [0.0, 0.052, -0.18]
|
| 61 |
-
"radius": 0.04
|
| 62 |
-
- "center": [0.01, 0.08, -0.14]
|
| 63 |
-
"radius": 0.022
|
| 64 |
-
- "center": [0.01, 0.085, -0.11]
|
| 65 |
-
"radius": 0.022
|
| 66 |
-
- "center": [0.01, 0.09, -0.08]
|
| 67 |
-
"radius": 0.022
|
| 68 |
-
- "center": [0.01, 0.095, -0.05]
|
| 69 |
-
"radius": 0.022
|
| 70 |
-
- "center": [-0.01, 0.08, -0.14]
|
| 71 |
-
"radius": 0.022
|
| 72 |
-
- "center": [-0.01, 0.085, -0.11]
|
| 73 |
-
"radius": 0.022
|
| 74 |
-
- "center": [-0.01, 0.09, -0.08]
|
| 75 |
-
"radius": 0.022
|
| 76 |
-
- "center": [-0.01, 0.095, -0.05]
|
| 77 |
-
"radius": 0.022
|
| 78 |
-
- "center": [0.0, -0.009, 0.0]
|
| 79 |
-
"radius": 0.05
|
| 80 |
-
panda_link6:
|
| 81 |
-
- "center": [0.085, 0.035, 0.0]
|
| 82 |
-
"radius": 0.045
|
| 83 |
-
- "center": [0.085, 0.0, 0.0]
|
| 84 |
-
"radius": 0.045
|
| 85 |
-
- "center": [0.085, -0.015, 0.0]
|
| 86 |
-
"radius": 0.045
|
| 87 |
-
panda_link7:
|
| 88 |
-
- "center": [0.0, 0.0, 0.07]
|
| 89 |
-
"radius": 0.045
|
| 90 |
-
- "center": [0.02, 0.04, 0.08]
|
| 91 |
-
"radius": 0.024
|
| 92 |
-
- "center": [0.04, 0.02, 0.08]
|
| 93 |
-
"radius": 0.024
|
| 94 |
-
- "center": [0.04, 0.06, 0.085]
|
| 95 |
-
"radius": 0.02
|
| 96 |
-
- "center": [0.06, 0.04, 0.085]
|
| 97 |
-
"radius": 0.02
|
| 98 |
-
panda_hand:
|
| 99 |
-
- "center": [0.0, -0.075, 0.01]
|
| 100 |
-
"radius": 0.023
|
| 101 |
-
- "center": [0.0, -0.045, 0.01]
|
| 102 |
-
"radius": 0.023
|
| 103 |
-
- "center": [0.0, -0.015, 0.01]
|
| 104 |
-
"radius": 0.023
|
| 105 |
-
- "center": [0.0, 0.015, 0.01]
|
| 106 |
-
"radius": 0.023
|
| 107 |
-
- "center": [0.0, 0.045, 0.01]
|
| 108 |
-
"radius": 0.023
|
| 109 |
-
- "center": [0.0, 0.075, 0.01]
|
| 110 |
-
"radius": 0.023
|
| 111 |
-
- "center": [0.0, -0.08, 0.03]
|
| 112 |
-
"radius": 0.022
|
| 113 |
-
- "center": [0.0, -0.045, 0.03]
|
| 114 |
-
"radius": 0.022
|
| 115 |
-
- "center": [0.0, -0.015, 0.03]
|
| 116 |
-
"radius": 0.022
|
| 117 |
-
- "center": [0.0, 0.015, 0.03]
|
| 118 |
-
"radius": 0.022
|
| 119 |
-
- "center": [0.0, 0.045, 0.03]
|
| 120 |
-
"radius": 0.022
|
| 121 |
-
- "center": [0.0, 0.08, 0.03]
|
| 122 |
-
"radius": 0.022
|
| 123 |
-
- "center": [0.0, -0.08, 0.045]
|
| 124 |
-
"radius": 0.022
|
| 125 |
-
- "center": [0.0, -0.045, 0.045]
|
| 126 |
-
"radius": 0.022
|
| 127 |
-
- "center": [0.0, -0.015, 0.045]
|
| 128 |
-
"radius": 0.022
|
| 129 |
-
- "center": [0.0, 0.015, 0.045]
|
| 130 |
-
"radius": 0.022
|
| 131 |
-
- "center": [0.0, 0.045, 0.045]
|
| 132 |
-
"radius": 0.022
|
| 133 |
-
- "center": [0.0, 0.08, 0.045]
|
| 134 |
-
"radius": 0.022
|
| 135 |
-
panda_leftfinger:
|
| 136 |
-
- "center": [0.0, 0.01, 0.043]
|
| 137 |
-
"radius": 0.011
|
| 138 |
-
- "center": [0.0, 0.02, 0.015]
|
| 139 |
-
"radius": 0.011
|
| 140 |
-
panda_rightfinger:
|
| 141 |
-
- "center": [0.0, -0.01, 0.043]
|
| 142 |
-
"radius": 0.011
|
| 143 |
-
- "center": [0.0, -0.02, 0.015]
|
| 144 |
-
"radius": 0.011
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6e3e032a01cc0904b115d24953b2b55d0a91e79d6965b8f0bc224ad2591dec83
|
| 3 |
+
size 4679
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/franka-panda/config.yml
CHANGED
|
@@ -1,60 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
joint_damping: 200
|
| 5 |
-
gripper_stiffnes: 1000
|
| 6 |
-
gripper_damping: 200
|
| 7 |
-
move_group: ["panda_hand","panda_hand"]
|
| 8 |
-
ee_joints: ["panda_hand_joint","panda_hand_joint"]
|
| 9 |
-
arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
|
| 10 |
-
['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
|
| 11 |
-
# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
|
| 12 |
-
# ["panda_finger_joint1", "panda_finger_joint2"]]
|
| 13 |
-
gripper_name:
|
| 14 |
-
- base: "panda_finger_joint1"
|
| 15 |
-
mimic: [["panda_finger_joint2", 1., 0.]]
|
| 16 |
-
- base: "panda_finger_joint1"
|
| 17 |
-
mimic: [["panda_finger_joint2", 1., 0.]]
|
| 18 |
-
gripper_bias: 0.08
|
| 19 |
-
gripper_scale: [-0.01, 0.05]
|
| 20 |
-
homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
|
| 21 |
-
[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
|
| 22 |
-
# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04],
|
| 23 |
-
# [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]]
|
| 24 |
-
delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
|
| 25 |
-
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
|
| 26 |
-
robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707],
|
| 27 |
-
[0, -0.65, 0.75, 0.707, 0, 0, 0.707]] # modify
|
| 28 |
-
# planner: "mplib_screw" # mplib_screw
|
| 29 |
-
planner: "curobo"
|
| 30 |
-
dual_arm: False
|
| 31 |
-
rotate_lim: [0.1, 0.8]
|
| 32 |
-
grasp_perfect_direction: ['right', 'left']
|
| 33 |
-
static_camera_list:
|
| 34 |
-
- name: head_camera
|
| 35 |
-
position:
|
| 36 |
-
- -0.032
|
| 37 |
-
- -0.45
|
| 38 |
-
- 1.35
|
| 39 |
-
forward:
|
| 40 |
-
- 0
|
| 41 |
-
- 0.6
|
| 42 |
-
- -0.8
|
| 43 |
-
left:
|
| 44 |
-
- -1
|
| 45 |
-
- 0
|
| 46 |
-
- 0
|
| 47 |
-
# - name: front_camera
|
| 48 |
-
# type: D435
|
| 49 |
-
# position:
|
| 50 |
-
# - 0
|
| 51 |
-
# - -0.45
|
| 52 |
-
# - 0.85
|
| 53 |
-
# forward:
|
| 54 |
-
# - 0
|
| 55 |
-
# - 1
|
| 56 |
-
# - -0.1
|
| 57 |
-
# left:
|
| 58 |
-
# - -1
|
| 59 |
-
# - 0
|
| 60 |
-
# - 0
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9826ccd545276275a5a2759331429100c7383b371b62146462816bd48852d93
|
| 3 |
+
size 1905
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/franka-panda/curobo_tmp.yml
CHANGED
|
@@ -1,117 +1,3 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
| 4 |
-
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
| 5 |
-
## property and proprietary rights in and to this material, related
|
| 6 |
-
## documentation and any modifications thereto. Any use, reproduction,
|
| 7 |
-
## disclosure or distribution of this material and related documentation
|
| 8 |
-
## without an express license agreement from NVIDIA CORPORATION or
|
| 9 |
-
## its affiliates is strictly prohibited.
|
| 10 |
-
##
|
| 11 |
-
|
| 12 |
-
robot_cfg:
|
| 13 |
-
kinematics:
|
| 14 |
-
use_usd_kinematics: False
|
| 15 |
-
# isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
|
| 16 |
-
# usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
|
| 17 |
-
# usd_robot_root: "/panda"
|
| 18 |
-
# usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
| 19 |
-
# "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
| 20 |
-
# usd_flip_joints: {
|
| 21 |
-
# "panda_joint1": "Z",
|
| 22 |
-
# "panda_joint2": "Z",
|
| 23 |
-
# "panda_joint3": "Z",
|
| 24 |
-
# "panda_joint4": "Z",
|
| 25 |
-
# "panda_joint5": "Z",
|
| 26 |
-
# "panda_joint6": "Z",
|
| 27 |
-
# "panda_joint7": "Z",
|
| 28 |
-
# "panda_finger_joint1": "Y",
|
| 29 |
-
# "panda_finger_joint2": "Y",
|
| 30 |
-
# }
|
| 31 |
-
|
| 32 |
-
# usd_flip_joint_limits: ["panda_finger_joint2"]
|
| 33 |
-
urdf_path: ${ASSETS_PATH}/assets/embodiments/franka-panda/panda.urdf
|
| 34 |
-
asset_root_path: null #"robot/franka_description"
|
| 35 |
-
base_link: "panda_link0"
|
| 36 |
-
ee_link: "panda_hand"
|
| 37 |
-
collision_link_names:
|
| 38 |
-
[
|
| 39 |
-
"panda_link0",
|
| 40 |
-
"panda_link1",
|
| 41 |
-
"panda_link2",
|
| 42 |
-
"panda_link3",
|
| 43 |
-
"panda_link4",
|
| 44 |
-
"panda_link5",
|
| 45 |
-
"panda_link6",
|
| 46 |
-
"panda_link7",
|
| 47 |
-
"panda_hand",
|
| 48 |
-
"panda_leftfinger",
|
| 49 |
-
"panda_rightfinger",
|
| 50 |
-
"attached_object",
|
| 51 |
-
]
|
| 52 |
-
collision_spheres: ${ASSETS_PATH}/assets/embodiments/franka-panda/collision_franka.yml
|
| 53 |
-
collision_sphere_buffer: 0.004 # 0.0025
|
| 54 |
-
extra_collision_spheres: {"attached_object": 4}
|
| 55 |
-
use_global_cumul: True
|
| 56 |
-
self_collision_ignore:
|
| 57 |
-
{
|
| 58 |
-
"panda_link0": ["panda_link1", "panda_link2"],
|
| 59 |
-
"panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
|
| 60 |
-
"panda_link2": ["panda_link3", "panda_link4"],
|
| 61 |
-
"panda_link3": ["panda_link4", "panda_link6"],
|
| 62 |
-
"panda_link4":
|
| 63 |
-
["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
|
| 64 |
-
"panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"],
|
| 65 |
-
"panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
| 66 |
-
"panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"],
|
| 67 |
-
"panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"],
|
| 68 |
-
"panda_leftfinger": ["panda_rightfinger", "attached_object"],
|
| 69 |
-
"panda_rightfinger": ["attached_object"],
|
| 70 |
-
|
| 71 |
-
}
|
| 72 |
-
|
| 73 |
-
self_collision_buffer:
|
| 74 |
-
{
|
| 75 |
-
"panda_link0": 0.1,
|
| 76 |
-
"panda_link1": 0.05,
|
| 77 |
-
"panda_link2": 0.0,
|
| 78 |
-
"panda_link3": 0.0,
|
| 79 |
-
"panda_link4": 0.0,
|
| 80 |
-
"panda_link5": 0.0,
|
| 81 |
-
"panda_link6": 0.0,
|
| 82 |
-
"panda_link7": 0.0,
|
| 83 |
-
"panda_hand": 0.02,
|
| 84 |
-
"panda_leftfinger": 0.01,
|
| 85 |
-
"panda_rightfinger": 0.01,
|
| 86 |
-
"attached_object": 0.0,
|
| 87 |
-
}
|
| 88 |
-
#link_names: ["panda_link4"]
|
| 89 |
-
mesh_link_names:
|
| 90 |
-
[
|
| 91 |
-
"panda_link0",
|
| 92 |
-
"panda_link1",
|
| 93 |
-
"panda_link2",
|
| 94 |
-
"panda_link3",
|
| 95 |
-
"panda_link4",
|
| 96 |
-
"panda_link5",
|
| 97 |
-
"panda_link6",
|
| 98 |
-
"panda_link7",
|
| 99 |
-
"panda_hand",
|
| 100 |
-
"panda_leftfinger",
|
| 101 |
-
"panda_rightfinger",
|
| 102 |
-
]
|
| 103 |
-
lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04}
|
| 104 |
-
extra_links: {"attached_object":{"parent_link_name": "panda_hand" ,
|
| 105 |
-
"link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
|
| 106 |
-
"joint_name": "attach_joint" }}
|
| 107 |
-
cspace:
|
| 108 |
-
joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
|
| 109 |
-
"panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
|
| 110 |
-
# 0.2200, -1.4012, -0.0406, -1.4901, 0.3050, 0.4521, 0.2099
|
| 111 |
-
retract_config: [0.2200, -1.4012, -0.0406, -1.4901, 0.3050, 0.4521, 0.2099, 0.04, 0.04]
|
| 112 |
-
null_space_weight: [1,1,1,1,1,1,1,1,1]
|
| 113 |
-
cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
|
| 114 |
-
max_acceleration: 15.0
|
| 115 |
-
max_jerk: 500.0
|
| 116 |
-
planner:
|
| 117 |
-
frame_bias: [0., 0., 0.]
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8cb3568cbcf75a661ba877db29b6e8191b9cd6106aba514c42b16a27b57cfb82
|
| 3 |
+
size 4401
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
embodiments/franka-panda/franka_description/meshes/collision/finger.stl
CHANGED
|
Binary files a/embodiments/franka-panda/franka_description/meshes/collision/finger.stl and b/embodiments/franka-panda/franka_description/meshes/collision/finger.stl differ
|
|
|
embodiments/franka-panda/franka_description/meshes/collision/hand.stl
CHANGED
|
Binary files a/embodiments/franka-panda/franka_description/meshes/collision/hand.stl and b/embodiments/franka-panda/franka_description/meshes/collision/hand.stl differ
|
|
|