Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- assets/urdf/Lighter/100289/bounding_box.json +1 -0
- assets/urdf/Lighter/100289/grasp_poses.json +39 -0
- assets/urdf/Lighter/100289/meta.json +1 -0
- assets/urdf/Lighter/100289/mobility.urdf +364 -0
- assets/urdf/Lighter/100289/mobility_v2.json +1 -0
- assets/urdf/Lighter/100289/model_data.json +65 -0
- assets/urdf/Lighter/100289/result.json +1 -0
- assets/urdf/Lighter/100289/result_original.json +1 -0
- assets/urdf/Lighter/100289/semantics.txt +3 -0
- assets/urdf/Lighter/100293/bounding_box.json +1 -0
- assets/urdf/Lighter/100293/grasp_poses.json +39 -0
- assets/urdf/Lighter/100293/meta.json +1 -0
- assets/urdf/Lighter/100293/mobility.urdf +388 -0
- assets/urdf/Lighter/100293/mobility_v2.json +1 -0
- assets/urdf/Lighter/100293/model_data.json +65 -0
- assets/urdf/Lighter/100293/result.json +1 -0
- assets/urdf/Lighter/100293/result_original.json +1 -0
- assets/urdf/Lighter/100293/semantics.txt +3 -0
- assets/urdf/Lighter/100294/bounding_box.json +1 -0
- assets/urdf/Lighter/100294/grasp_poses.json +39 -0
- assets/urdf/Lighter/100294/meta.json +1 -0
- assets/urdf/Lighter/100294/mobility.urdf +64 -0
- assets/urdf/Lighter/100294/mobility_v2.json +1 -0
- assets/urdf/Lighter/100294/model_data.json +65 -0
- assets/urdf/Lighter/100294/result.json +1 -0
- assets/urdf/Lighter/100294/result_original.json +1 -0
- assets/urdf/Lighter/100294/semantics.txt +3 -0
- assets/urdf/Lighter/100295/bounding_box.json +1 -0
- assets/urdf/Lighter/100295/grasp_poses.json +39 -0
- assets/urdf/Lighter/100295/meta.json +1 -0
- assets/urdf/Lighter/100295/mobility.urdf +220 -0
- assets/urdf/Lighter/100295/mobility_v2.json +1 -0
- assets/urdf/Lighter/100295/model_data.json +65 -0
- assets/urdf/Lighter/100295/result.json +1 -0
- assets/urdf/Lighter/100295/result_original.json +1 -0
- assets/urdf/Lighter/100295/semantics.txt +3 -0
- assets/urdf/Lighter/100295/textured_objs/original-11.mtl +15 -0
- assets/urdf/Lighter/100295/textured_objs/original-11.obj +0 -0
- assets/urdf/Lighter/100295/textured_objs/original-12.mtl +15 -0
- assets/urdf/Lighter/100295/textured_objs/original-12.obj +144 -0
- assets/urdf/Lighter/100295/textured_objs/original-16.mtl +8 -0
- assets/urdf/Lighter/100295/textured_objs/original-17.obj +522 -0
- assets/urdf/Lighter/100295/textured_objs/original-19.mtl +8 -0
- assets/urdf/Lighter/100295/textured_objs/original-20.mtl +8 -0
- assets/urdf/Lighter/100295/textured_objs/original-20.obj +670 -0
- assets/urdf/Lighter/100295/textured_objs/original-21.mtl +8 -0
- assets/urdf/Lighter/100295/textured_objs/original-4.mtl +15 -0
- assets/urdf/Lighter/100295/textured_objs/original-5.mtl +15 -0
- assets/urdf/Lighter/100295/textured_objs/original-5.obj +254 -0
- assets/urdf/Lighter/100295/textured_objs/original-7.mtl +7 -0
assets/urdf/Lighter/100289/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.178719, -0.743667, -0.652593], "max": [0.170294, 0.813303, 0.659797]}
|
assets/urdf/Lighter/100289/grasp_poses.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "100289",
|
| 3 |
+
"scale": 0.04,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"button": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
+
"matrix": [
|
| 9 |
+
[
|
| 10 |
+
0.0010300000431016088,
|
| 11 |
+
-0.999779999256134,
|
| 12 |
+
0.020749999210238457,
|
| 13 |
+
2.2314400672912598
|
| 14 |
+
],
|
| 15 |
+
[
|
| 16 |
+
-0.9988300204277039,
|
| 17 |
+
-0.00203000009059906,
|
| 18 |
+
-0.04826999828219414,
|
| 19 |
+
-0.02322000078856945
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
0.04830000177025795,
|
| 23 |
+
-0.020679999142885208,
|
| 24 |
+
-0.9986199736595154,
|
| 25 |
+
1.1565899848937988
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
1.0
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
]
|
| 38 |
+
}
|
| 39 |
+
}
|
assets/urdf/Lighter/100289/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Lighter", "model_id": "2728e54436010242c241649791db938a", "version": "2", "anno_id": "289", "time_in_sec": "278"}
|
assets/urdf/Lighter/100289/mobility.urdf
ADDED
|
@@ -0,0 +1,364 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_2728e54436010242c241649791db938a">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="wheel-2">
|
| 6 |
+
<origin xyz="2.7626266897215926e-06 -0.2031901673438863 0.5338818404547555"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="wheel-2">
|
| 12 |
+
<origin xyz="2.7626266897215926e-06 -0.2031901673438863 0.5338818404547555"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin xyz="2.7626266897215926e-06 -0.2031901673438863 0.5338818404547555"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<collision>
|
| 24 |
+
<origin xyz="2.7626266897215926e-06 -0.2031901673438863 0.5338818404547555"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
</link>
|
| 30 |
+
<joint name="joint_0" type="continuous">
|
| 31 |
+
<origin xyz="-2.7626266897215926e-06 0.2031901673438863 -0.5338818404547555"/>
|
| 32 |
+
<axis xyz="-0.9999999772415686 0.00019762253341439444 8.038778887284483e-05"/>
|
| 33 |
+
<child link="link_0"/>
|
| 34 |
+
<parent link="link_1"/>
|
| 35 |
+
</joint>
|
| 36 |
+
<link name="link_1">
|
| 37 |
+
<visual name="base_body-5">
|
| 38 |
+
<origin xyz="0 0 0"/>
|
| 39 |
+
<geometry>
|
| 40 |
+
<mesh filename="textured_objs/original-29.obj"/>
|
| 41 |
+
</geometry>
|
| 42 |
+
</visual>
|
| 43 |
+
<visual name="base_body-5">
|
| 44 |
+
<origin xyz="0 0 0"/>
|
| 45 |
+
<geometry>
|
| 46 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 47 |
+
</geometry>
|
| 48 |
+
</visual>
|
| 49 |
+
<visual name="base_body-5">
|
| 50 |
+
<origin xyz="0 0 0"/>
|
| 51 |
+
<geometry>
|
| 52 |
+
<mesh filename="textured_objs/original-30.obj"/>
|
| 53 |
+
</geometry>
|
| 54 |
+
</visual>
|
| 55 |
+
<visual name="base_body-5">
|
| 56 |
+
<origin xyz="0 0 0"/>
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="textured_objs/original-28.obj"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</visual>
|
| 61 |
+
<visual name="base_body-5">
|
| 62 |
+
<origin xyz="0 0 0"/>
|
| 63 |
+
<geometry>
|
| 64 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 65 |
+
</geometry>
|
| 66 |
+
</visual>
|
| 67 |
+
<visual name="base_body-5">
|
| 68 |
+
<origin xyz="0 0 0"/>
|
| 69 |
+
<geometry>
|
| 70 |
+
<mesh filename="textured_objs/original-26.obj"/>
|
| 71 |
+
</geometry>
|
| 72 |
+
</visual>
|
| 73 |
+
<visual name="base_body-5">
|
| 74 |
+
<origin xyz="0 0 0"/>
|
| 75 |
+
<geometry>
|
| 76 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 77 |
+
</geometry>
|
| 78 |
+
</visual>
|
| 79 |
+
<visual name="base_body-5">
|
| 80 |
+
<origin xyz="0 0 0"/>
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh filename="textured_objs/original-27.obj"/>
|
| 83 |
+
</geometry>
|
| 84 |
+
</visual>
|
| 85 |
+
<visual name="base_body-5">
|
| 86 |
+
<origin xyz="0 0 0"/>
|
| 87 |
+
<geometry>
|
| 88 |
+
<mesh filename="textured_objs/original-23.obj"/>
|
| 89 |
+
</geometry>
|
| 90 |
+
</visual>
|
| 91 |
+
<visual name="base_body-5">
|
| 92 |
+
<origin xyz="0 0 0"/>
|
| 93 |
+
<geometry>
|
| 94 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 95 |
+
</geometry>
|
| 96 |
+
</visual>
|
| 97 |
+
<visual name="base_body-5">
|
| 98 |
+
<origin xyz="0 0 0"/>
|
| 99 |
+
<geometry>
|
| 100 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 101 |
+
</geometry>
|
| 102 |
+
</visual>
|
| 103 |
+
<visual name="base_body-5">
|
| 104 |
+
<origin xyz="0 0 0"/>
|
| 105 |
+
<geometry>
|
| 106 |
+
<mesh filename="textured_objs/original-25.obj"/>
|
| 107 |
+
</geometry>
|
| 108 |
+
</visual>
|
| 109 |
+
<visual name="base_body-5">
|
| 110 |
+
<origin xyz="0 0 0"/>
|
| 111 |
+
<geometry>
|
| 112 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 113 |
+
</geometry>
|
| 114 |
+
</visual>
|
| 115 |
+
<visual name="base_body-5">
|
| 116 |
+
<origin xyz="0 0 0"/>
|
| 117 |
+
<geometry>
|
| 118 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 119 |
+
</geometry>
|
| 120 |
+
</visual>
|
| 121 |
+
<visual name="base_body-5">
|
| 122 |
+
<origin xyz="0 0 0"/>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="textured_objs/original-24.obj"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</visual>
|
| 127 |
+
<visual name="base_body-5">
|
| 128 |
+
<origin xyz="0 0 0"/>
|
| 129 |
+
<geometry>
|
| 130 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 131 |
+
</geometry>
|
| 132 |
+
</visual>
|
| 133 |
+
<visual name="base_body-5">
|
| 134 |
+
<origin xyz="0 0 0"/>
|
| 135 |
+
<geometry>
|
| 136 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 137 |
+
</geometry>
|
| 138 |
+
</visual>
|
| 139 |
+
<visual name="base_body-5">
|
| 140 |
+
<origin xyz="0 0 0"/>
|
| 141 |
+
<geometry>
|
| 142 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 143 |
+
</geometry>
|
| 144 |
+
</visual>
|
| 145 |
+
<collision>
|
| 146 |
+
<origin xyz="0 0 0"/>
|
| 147 |
+
<geometry>
|
| 148 |
+
<mesh filename="textured_objs/original-29.obj"/>
|
| 149 |
+
</geometry>
|
| 150 |
+
</collision>
|
| 151 |
+
<collision>
|
| 152 |
+
<origin xyz="0 0 0"/>
|
| 153 |
+
<geometry>
|
| 154 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 155 |
+
</geometry>
|
| 156 |
+
</collision>
|
| 157 |
+
<collision>
|
| 158 |
+
<origin xyz="0 0 0"/>
|
| 159 |
+
<geometry>
|
| 160 |
+
<mesh filename="textured_objs/original-30.obj"/>
|
| 161 |
+
</geometry>
|
| 162 |
+
</collision>
|
| 163 |
+
<collision>
|
| 164 |
+
<origin xyz="0 0 0"/>
|
| 165 |
+
<geometry>
|
| 166 |
+
<mesh filename="textured_objs/original-28.obj"/>
|
| 167 |
+
</geometry>
|
| 168 |
+
</collision>
|
| 169 |
+
<collision>
|
| 170 |
+
<origin xyz="0 0 0"/>
|
| 171 |
+
<geometry>
|
| 172 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 173 |
+
</geometry>
|
| 174 |
+
</collision>
|
| 175 |
+
<collision>
|
| 176 |
+
<origin xyz="0 0 0"/>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="textured_objs/original-26.obj"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
</collision>
|
| 181 |
+
<collision>
|
| 182 |
+
<origin xyz="0 0 0"/>
|
| 183 |
+
<geometry>
|
| 184 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 185 |
+
</geometry>
|
| 186 |
+
</collision>
|
| 187 |
+
<collision>
|
| 188 |
+
<origin xyz="0 0 0"/>
|
| 189 |
+
<geometry>
|
| 190 |
+
<mesh filename="textured_objs/original-27.obj"/>
|
| 191 |
+
</geometry>
|
| 192 |
+
</collision>
|
| 193 |
+
<collision>
|
| 194 |
+
<origin xyz="0 0 0"/>
|
| 195 |
+
<geometry>
|
| 196 |
+
<mesh filename="textured_objs/original-23.obj"/>
|
| 197 |
+
</geometry>
|
| 198 |
+
</collision>
|
| 199 |
+
<collision>
|
| 200 |
+
<origin xyz="0 0 0"/>
|
| 201 |
+
<geometry>
|
| 202 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 203 |
+
</geometry>
|
| 204 |
+
</collision>
|
| 205 |
+
<collision>
|
| 206 |
+
<origin xyz="0 0 0"/>
|
| 207 |
+
<geometry>
|
| 208 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 209 |
+
</geometry>
|
| 210 |
+
</collision>
|
| 211 |
+
<collision>
|
| 212 |
+
<origin xyz="0 0 0"/>
|
| 213 |
+
<geometry>
|
| 214 |
+
<mesh filename="textured_objs/original-25.obj"/>
|
| 215 |
+
</geometry>
|
| 216 |
+
</collision>
|
| 217 |
+
<collision>
|
| 218 |
+
<origin xyz="0 0 0"/>
|
| 219 |
+
<geometry>
|
| 220 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 221 |
+
</geometry>
|
| 222 |
+
</collision>
|
| 223 |
+
<collision>
|
| 224 |
+
<origin xyz="0 0 0"/>
|
| 225 |
+
<geometry>
|
| 226 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 227 |
+
</geometry>
|
| 228 |
+
</collision>
|
| 229 |
+
<collision>
|
| 230 |
+
<origin xyz="0 0 0"/>
|
| 231 |
+
<geometry>
|
| 232 |
+
<mesh filename="textured_objs/original-24.obj"/>
|
| 233 |
+
</geometry>
|
| 234 |
+
</collision>
|
| 235 |
+
<collision>
|
| 236 |
+
<origin xyz="0 0 0"/>
|
| 237 |
+
<geometry>
|
| 238 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 239 |
+
</geometry>
|
| 240 |
+
</collision>
|
| 241 |
+
<collision>
|
| 242 |
+
<origin xyz="0 0 0"/>
|
| 243 |
+
<geometry>
|
| 244 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 245 |
+
</geometry>
|
| 246 |
+
</collision>
|
| 247 |
+
<collision>
|
| 248 |
+
<origin xyz="0 0 0"/>
|
| 249 |
+
<geometry>
|
| 250 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 251 |
+
</geometry>
|
| 252 |
+
</collision>
|
| 253 |
+
</link>
|
| 254 |
+
<joint name="joint_1" type="fixed">
|
| 255 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 256 |
+
<child link="link_1"/>
|
| 257 |
+
<parent link="base"/>
|
| 258 |
+
</joint>
|
| 259 |
+
<link name="link_2">
|
| 260 |
+
<visual name="lid-1">
|
| 261 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 262 |
+
<geometry>
|
| 263 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 264 |
+
</geometry>
|
| 265 |
+
</visual>
|
| 266 |
+
<visual name="lid-1">
|
| 267 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 268 |
+
<geometry>
|
| 269 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 270 |
+
</geometry>
|
| 271 |
+
</visual>
|
| 272 |
+
<visual name="lid-1">
|
| 273 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 274 |
+
<geometry>
|
| 275 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 276 |
+
</geometry>
|
| 277 |
+
</visual>
|
| 278 |
+
<visual name="lid-1">
|
| 279 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 280 |
+
<geometry>
|
| 281 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 282 |
+
</geometry>
|
| 283 |
+
</visual>
|
| 284 |
+
<visual name="lid-1">
|
| 285 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 286 |
+
<geometry>
|
| 287 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 288 |
+
</geometry>
|
| 289 |
+
</visual>
|
| 290 |
+
<visual name="lid-1">
|
| 291 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 292 |
+
<geometry>
|
| 293 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 294 |
+
</geometry>
|
| 295 |
+
</visual>
|
| 296 |
+
<visual name="lid-1">
|
| 297 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 298 |
+
<geometry>
|
| 299 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 300 |
+
</geometry>
|
| 301 |
+
</visual>
|
| 302 |
+
<visual name="connector-4">
|
| 303 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 304 |
+
<geometry>
|
| 305 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 306 |
+
</geometry>
|
| 307 |
+
</visual>
|
| 308 |
+
<collision>
|
| 309 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 310 |
+
<geometry>
|
| 311 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 312 |
+
</geometry>
|
| 313 |
+
</collision>
|
| 314 |
+
<collision>
|
| 315 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 316 |
+
<geometry>
|
| 317 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 318 |
+
</geometry>
|
| 319 |
+
</collision>
|
| 320 |
+
<collision>
|
| 321 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 322 |
+
<geometry>
|
| 323 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 324 |
+
</geometry>
|
| 325 |
+
</collision>
|
| 326 |
+
<collision>
|
| 327 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 328 |
+
<geometry>
|
| 329 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 330 |
+
</geometry>
|
| 331 |
+
</collision>
|
| 332 |
+
<collision>
|
| 333 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 334 |
+
<geometry>
|
| 335 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 336 |
+
</geometry>
|
| 337 |
+
</collision>
|
| 338 |
+
<collision>
|
| 339 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 340 |
+
<geometry>
|
| 341 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 342 |
+
</geometry>
|
| 343 |
+
</collision>
|
| 344 |
+
<collision>
|
| 345 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 346 |
+
<geometry>
|
| 347 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 348 |
+
</geometry>
|
| 349 |
+
</collision>
|
| 350 |
+
<collision>
|
| 351 |
+
<origin xyz="0 0.009008500000000001 -0.17217749999999998"/>
|
| 352 |
+
<geometry>
|
| 353 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 354 |
+
</geometry>
|
| 355 |
+
</collision>
|
| 356 |
+
</link>
|
| 357 |
+
<joint name="joint_2" type="revolute">
|
| 358 |
+
<origin xyz="0 -0.009008500000000001 0.17217749999999998"/>
|
| 359 |
+
<axis xyz="1 0 0"/>
|
| 360 |
+
<child link="link_2"/>
|
| 361 |
+
<parent link="link_1"/>
|
| 362 |
+
<limit lower="-1.5707963267948966" upper="-0.0"/>
|
| 363 |
+
</joint>
|
| 364 |
+
</robot>
|
assets/urdf/Lighter/100289/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-2.7626266897215926e-06, 0.2031901673438863, -0.5338818404547555], "direction": [-0.9999999772415686, 0.00019762253341439444, 8.038778887284483e-05]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}, {"id": 2, "parent": 1, "joint": "hinge", "name": "lid", "parts": [{"id": 1, "name": "lid", "children": []}, {"id": 4, "name": "connector", "children": []}], "jointData": {"axis": {"origin": [0, -0.009008500000000001, 0.17217749999999998], "direction": [-1, 0, 0]}, "limit": {"a": 90, "b": 0, "noLimit": false}}}]
|
assets/urdf/Lighter/100289/model_data.json
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.04,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
+
[
|
| 5 |
+
1.0,
|
| 6 |
+
0.0,
|
| 7 |
+
0.0,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
[
|
| 11 |
+
0.0,
|
| 12 |
+
1.0,
|
| 13 |
+
0.0,
|
| 14 |
+
0.0
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
1.0,
|
| 20 |
+
0.0
|
| 21 |
+
],
|
| 22 |
+
[
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0
|
| 27 |
+
]
|
| 28 |
+
],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"button": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
+
[
|
| 36 |
+
0.0010300000431016088,
|
| 37 |
+
-0.999779999256134,
|
| 38 |
+
0.020749999210238457,
|
| 39 |
+
2.2314400672912598
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
-0.9988300204277039,
|
| 43 |
+
-0.00203000009059906,
|
| 44 |
+
-0.04826999828219414,
|
| 45 |
+
-0.02322000078856945
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.04830000177025795,
|
| 49 |
+
-0.020679999142885208,
|
| 50 |
+
-0.9986199736595154,
|
| 51 |
+
1.1565899848937988
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
}
|
assets/urdf/Lighter/100289/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Lighter", "name": "Lighter", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-5", "original-6", "original-16", "original-15", "original-14", "original-13", "original-3"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-8", "original-7"]}, {"text": "connector (other)", "name": "other", "id": 3, "children": [{"text": "other_leaf", "name": "connector", "id": 4, "objs": ["original-9"]}]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-21", "original-30", "original-28", "original-22", "original-26", "original-2", "original-27", "original-23", "original-11", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-1", "original-19"]}]}]
|
assets/urdf/Lighter/100289/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Lighter", "text": "Lighter", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-5", "original-6", "original-16", "original-15", "original-14", "original-13", "original-3"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-8", "original-7"]}, {"id": 3, "name": "other", "text": "connector (other)", "children": [{"id": 4, "name": "other_leaf", "text": "other_leaf", "objs": ["original-9"]}]}]}]
|
assets/urdf/Lighter/100289/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge wheel
|
| 2 |
+
link_1 free lighter_body
|
| 3 |
+
link_2 hinge rotation_lid
|
assets/urdf/Lighter/100293/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.140846, -0.968549, -0.306971], "max": [0.132364, 0.91352, 0.299834]}
|
assets/urdf/Lighter/100293/grasp_poses.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "100293",
|
| 3 |
+
"scale": 0.04,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"button": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
+
"matrix": [
|
| 9 |
+
[
|
| 10 |
+
-0.08715999871492386,
|
| 11 |
+
-0.9961900115013123,
|
| 12 |
+
-0.0,
|
| 13 |
+
1.8779799938201904
|
| 14 |
+
],
|
| 15 |
+
[
|
| 16 |
+
-0.9961900115013123,
|
| 17 |
+
0.08715999871492386,
|
| 18 |
+
-0.0,
|
| 19 |
+
-0.09809000045061111
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
0.0,
|
| 23 |
+
0.0,
|
| 24 |
+
-1.0,
|
| 25 |
+
1.5
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
1.0
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
]
|
| 38 |
+
}
|
| 39 |
+
}
|
assets/urdf/Lighter/100293/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Lighter", "model_id": "3886e56747acb7301e32f79edfad8027", "version": "3", "anno_id": "293", "time_in_sec": "309"}
|
assets/urdf/Lighter/100293/mobility.urdf
ADDED
|
@@ -0,0 +1,388 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_3886e56747acb7301e32f79edfad8027">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="wheel-4">
|
| 6 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="wheel-4">
|
| 12 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<visual name="wheel-4">
|
| 18 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<visual name="wheel-4">
|
| 24 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</visual>
|
| 29 |
+
<visual name="wheel-4">
|
| 30 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</visual>
|
| 35 |
+
<visual name="wheel-4">
|
| 36 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</visual>
|
| 41 |
+
<visual name="wheel-4">
|
| 42 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</visual>
|
| 47 |
+
<collision>
|
| 48 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
</collision>
|
| 53 |
+
<collision>
|
| 54 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 55 |
+
<geometry>
|
| 56 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 57 |
+
</geometry>
|
| 58 |
+
</collision>
|
| 59 |
+
<collision>
|
| 60 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 61 |
+
<geometry>
|
| 62 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 63 |
+
</geometry>
|
| 64 |
+
</collision>
|
| 65 |
+
<collision>
|
| 66 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 69 |
+
</geometry>
|
| 70 |
+
</collision>
|
| 71 |
+
<collision>
|
| 72 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
<collision>
|
| 78 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 79 |
+
<geometry>
|
| 80 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 81 |
+
</geometry>
|
| 82 |
+
</collision>
|
| 83 |
+
<collision>
|
| 84 |
+
<origin xyz="0 -0.7987678290115894 0.0011942802145820351"/>
|
| 85 |
+
<geometry>
|
| 86 |
+
<mesh filename="textured_objs/original-18.obj"/>
|
| 87 |
+
</geometry>
|
| 88 |
+
</collision>
|
| 89 |
+
</link>
|
| 90 |
+
<joint name="joint_0" type="continuous">
|
| 91 |
+
<origin xyz="0 0.7987678290115894 -0.0011942802145820351"/>
|
| 92 |
+
<axis xyz="1 0 0"/>
|
| 93 |
+
<child link="link_0"/>
|
| 94 |
+
<parent link="link_2"/>
|
| 95 |
+
</joint>
|
| 96 |
+
<link name="link_1">
|
| 97 |
+
<visual name="button-5">
|
| 98 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 99 |
+
<geometry>
|
| 100 |
+
<mesh filename="textured_objs/original-30.obj"/>
|
| 101 |
+
</geometry>
|
| 102 |
+
</visual>
|
| 103 |
+
<visual name="button-5">
|
| 104 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 105 |
+
<geometry>
|
| 106 |
+
<mesh filename="textured_objs/original-24.obj"/>
|
| 107 |
+
</geometry>
|
| 108 |
+
</visual>
|
| 109 |
+
<visual name="button-5">
|
| 110 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 111 |
+
<geometry>
|
| 112 |
+
<mesh filename="textured_objs/original-31.obj"/>
|
| 113 |
+
</geometry>
|
| 114 |
+
</visual>
|
| 115 |
+
<collision>
|
| 116 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 117 |
+
<geometry>
|
| 118 |
+
<mesh filename="textured_objs/original-30.obj"/>
|
| 119 |
+
</geometry>
|
| 120 |
+
</collision>
|
| 121 |
+
<collision>
|
| 122 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 123 |
+
<geometry>
|
| 124 |
+
<mesh filename="textured_objs/original-24.obj"/>
|
| 125 |
+
</geometry>
|
| 126 |
+
</collision>
|
| 127 |
+
<collision>
|
| 128 |
+
<origin xyz="0.005058684274554251 0 0.11023293925821757"/>
|
| 129 |
+
<geometry>
|
| 130 |
+
<mesh filename="textured_objs/original-31.obj"/>
|
| 131 |
+
</geometry>
|
| 132 |
+
</collision>
|
| 133 |
+
</link>
|
| 134 |
+
<joint name="joint_1" type="prismatic">
|
| 135 |
+
<origin xyz="-0.005058684274554251 0 -0.11023293925821757"/>
|
| 136 |
+
<axis xyz="0 -1 0"/>
|
| 137 |
+
<child link="link_1"/>
|
| 138 |
+
<parent link="link_2"/>
|
| 139 |
+
<limit lower="0" upper="0.040000000000000036"/>
|
| 140 |
+
</joint>
|
| 141 |
+
<link name="link_2">
|
| 142 |
+
<visual name="base_body-6">
|
| 143 |
+
<origin xyz="0 0 0"/>
|
| 144 |
+
<geometry>
|
| 145 |
+
<mesh filename="textured_objs/original-28.obj"/>
|
| 146 |
+
</geometry>
|
| 147 |
+
</visual>
|
| 148 |
+
<visual name="base_body-6">
|
| 149 |
+
<origin xyz="0 0 0"/>
|
| 150 |
+
<geometry>
|
| 151 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 152 |
+
</geometry>
|
| 153 |
+
</visual>
|
| 154 |
+
<visual name="base_body-6">
|
| 155 |
+
<origin xyz="0 0 0"/>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="textured_objs/original-26.obj"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
</visual>
|
| 160 |
+
<visual name="base_body-6">
|
| 161 |
+
<origin xyz="0 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</visual>
|
| 166 |
+
<visual name="base_body-6">
|
| 167 |
+
<origin xyz="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</visual>
|
| 172 |
+
<visual name="base_body-6">
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</visual>
|
| 178 |
+
<visual name="base_body-6">
|
| 179 |
+
<origin xyz="0 0 0"/>
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 182 |
+
</geometry>
|
| 183 |
+
</visual>
|
| 184 |
+
<visual name="base_body-6">
|
| 185 |
+
<origin xyz="0 0 0"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</visual>
|
| 190 |
+
<visual name="base_body-6">
|
| 191 |
+
<origin xyz="0 0 0"/>
|
| 192 |
+
<geometry>
|
| 193 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 194 |
+
</geometry>
|
| 195 |
+
</visual>
|
| 196 |
+
<visual name="base_body-6">
|
| 197 |
+
<origin xyz="0 0 0"/>
|
| 198 |
+
<geometry>
|
| 199 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 200 |
+
</geometry>
|
| 201 |
+
</visual>
|
| 202 |
+
<visual name="base_body-6">
|
| 203 |
+
<origin xyz="0 0 0"/>
|
| 204 |
+
<geometry>
|
| 205 |
+
<mesh filename="textured_objs/original-27.obj"/>
|
| 206 |
+
</geometry>
|
| 207 |
+
</visual>
|
| 208 |
+
<visual name="base_body-6">
|
| 209 |
+
<origin xyz="0 0 0"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</visual>
|
| 214 |
+
<visual name="base_body-6">
|
| 215 |
+
<origin xyz="0 0 0"/>
|
| 216 |
+
<geometry>
|
| 217 |
+
<mesh filename="textured_objs/original-23.obj"/>
|
| 218 |
+
</geometry>
|
| 219 |
+
</visual>
|
| 220 |
+
<visual name="base_body-6">
|
| 221 |
+
<origin xyz="0 0 0"/>
|
| 222 |
+
<geometry>
|
| 223 |
+
<mesh filename="textured_objs/original-25.obj"/>
|
| 224 |
+
</geometry>
|
| 225 |
+
</visual>
|
| 226 |
+
<visual name="base_body-6">
|
| 227 |
+
<origin xyz="0 0 0"/>
|
| 228 |
+
<geometry>
|
| 229 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 230 |
+
</geometry>
|
| 231 |
+
</visual>
|
| 232 |
+
<visual name="base_body-6">
|
| 233 |
+
<origin xyz="0 0 0"/>
|
| 234 |
+
<geometry>
|
| 235 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 236 |
+
</geometry>
|
| 237 |
+
</visual>
|
| 238 |
+
<visual name="base_body-6">
|
| 239 |
+
<origin xyz="0 0 0"/>
|
| 240 |
+
<geometry>
|
| 241 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 242 |
+
</geometry>
|
| 243 |
+
</visual>
|
| 244 |
+
<visual name="base_body-6">
|
| 245 |
+
<origin xyz="0 0 0"/>
|
| 246 |
+
<geometry>
|
| 247 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 248 |
+
</geometry>
|
| 249 |
+
</visual>
|
| 250 |
+
<visual name="base_body-6">
|
| 251 |
+
<origin xyz="0 0 0"/>
|
| 252 |
+
<geometry>
|
| 253 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 254 |
+
</geometry>
|
| 255 |
+
</visual>
|
| 256 |
+
<visual name="base_body-6">
|
| 257 |
+
<origin xyz="0 0 0"/>
|
| 258 |
+
<geometry>
|
| 259 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 260 |
+
</geometry>
|
| 261 |
+
</visual>
|
| 262 |
+
<collision>
|
| 263 |
+
<origin xyz="0 0 0"/>
|
| 264 |
+
<geometry>
|
| 265 |
+
<mesh filename="textured_objs/original-28.obj"/>
|
| 266 |
+
</geometry>
|
| 267 |
+
</collision>
|
| 268 |
+
<collision>
|
| 269 |
+
<origin xyz="0 0 0"/>
|
| 270 |
+
<geometry>
|
| 271 |
+
<mesh filename="textured_objs/original-22.obj"/>
|
| 272 |
+
</geometry>
|
| 273 |
+
</collision>
|
| 274 |
+
<collision>
|
| 275 |
+
<origin xyz="0 0 0"/>
|
| 276 |
+
<geometry>
|
| 277 |
+
<mesh filename="textured_objs/original-26.obj"/>
|
| 278 |
+
</geometry>
|
| 279 |
+
</collision>
|
| 280 |
+
<collision>
|
| 281 |
+
<origin xyz="0 0 0"/>
|
| 282 |
+
<geometry>
|
| 283 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 284 |
+
</geometry>
|
| 285 |
+
</collision>
|
| 286 |
+
<collision>
|
| 287 |
+
<origin xyz="0 0 0"/>
|
| 288 |
+
<geometry>
|
| 289 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 290 |
+
</geometry>
|
| 291 |
+
</collision>
|
| 292 |
+
<collision>
|
| 293 |
+
<origin xyz="0 0 0"/>
|
| 294 |
+
<geometry>
|
| 295 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 296 |
+
</geometry>
|
| 297 |
+
</collision>
|
| 298 |
+
<collision>
|
| 299 |
+
<origin xyz="0 0 0"/>
|
| 300 |
+
<geometry>
|
| 301 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 302 |
+
</geometry>
|
| 303 |
+
</collision>
|
| 304 |
+
<collision>
|
| 305 |
+
<origin xyz="0 0 0"/>
|
| 306 |
+
<geometry>
|
| 307 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 308 |
+
</geometry>
|
| 309 |
+
</collision>
|
| 310 |
+
<collision>
|
| 311 |
+
<origin xyz="0 0 0"/>
|
| 312 |
+
<geometry>
|
| 313 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 314 |
+
</geometry>
|
| 315 |
+
</collision>
|
| 316 |
+
<collision>
|
| 317 |
+
<origin xyz="0 0 0"/>
|
| 318 |
+
<geometry>
|
| 319 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 320 |
+
</geometry>
|
| 321 |
+
</collision>
|
| 322 |
+
<collision>
|
| 323 |
+
<origin xyz="0 0 0"/>
|
| 324 |
+
<geometry>
|
| 325 |
+
<mesh filename="textured_objs/original-27.obj"/>
|
| 326 |
+
</geometry>
|
| 327 |
+
</collision>
|
| 328 |
+
<collision>
|
| 329 |
+
<origin xyz="0 0 0"/>
|
| 330 |
+
<geometry>
|
| 331 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 332 |
+
</geometry>
|
| 333 |
+
</collision>
|
| 334 |
+
<collision>
|
| 335 |
+
<origin xyz="0 0 0"/>
|
| 336 |
+
<geometry>
|
| 337 |
+
<mesh filename="textured_objs/original-23.obj"/>
|
| 338 |
+
</geometry>
|
| 339 |
+
</collision>
|
| 340 |
+
<collision>
|
| 341 |
+
<origin xyz="0 0 0"/>
|
| 342 |
+
<geometry>
|
| 343 |
+
<mesh filename="textured_objs/original-25.obj"/>
|
| 344 |
+
</geometry>
|
| 345 |
+
</collision>
|
| 346 |
+
<collision>
|
| 347 |
+
<origin xyz="0 0 0"/>
|
| 348 |
+
<geometry>
|
| 349 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 350 |
+
</geometry>
|
| 351 |
+
</collision>
|
| 352 |
+
<collision>
|
| 353 |
+
<origin xyz="0 0 0"/>
|
| 354 |
+
<geometry>
|
| 355 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 356 |
+
</geometry>
|
| 357 |
+
</collision>
|
| 358 |
+
<collision>
|
| 359 |
+
<origin xyz="0 0 0"/>
|
| 360 |
+
<geometry>
|
| 361 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 362 |
+
</geometry>
|
| 363 |
+
</collision>
|
| 364 |
+
<collision>
|
| 365 |
+
<origin xyz="0 0 0"/>
|
| 366 |
+
<geometry>
|
| 367 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 368 |
+
</geometry>
|
| 369 |
+
</collision>
|
| 370 |
+
<collision>
|
| 371 |
+
<origin xyz="0 0 0"/>
|
| 372 |
+
<geometry>
|
| 373 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 374 |
+
</geometry>
|
| 375 |
+
</collision>
|
| 376 |
+
<collision>
|
| 377 |
+
<origin xyz="0 0 0"/>
|
| 378 |
+
<geometry>
|
| 379 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 380 |
+
</geometry>
|
| 381 |
+
</collision>
|
| 382 |
+
</link>
|
| 383 |
+
<joint name="joint_2" type="fixed">
|
| 384 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 385 |
+
<child link="link_2"/>
|
| 386 |
+
<parent link="base"/>
|
| 387 |
+
</joint>
|
| 388 |
+
</robot>
|
assets/urdf/Lighter/100293/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, 0.7987678290115894, -0.0011942802145820351], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "button", "parts": [{"id": 5, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.005058684274554251, 0, -0.11023293925821757], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 6, "name": "base_body", "children": []}], "jointData": {}}]
|
assets/urdf/Lighter/100293/model_data.json
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.04,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
+
[
|
| 5 |
+
1.0,
|
| 6 |
+
0.0,
|
| 7 |
+
0.0,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
[
|
| 11 |
+
0.0,
|
| 12 |
+
1.0,
|
| 13 |
+
0.0,
|
| 14 |
+
0.0
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
1.0,
|
| 20 |
+
0.0
|
| 21 |
+
],
|
| 22 |
+
[
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0
|
| 27 |
+
]
|
| 28 |
+
],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"button": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
+
[
|
| 36 |
+
-0.08715999871492386,
|
| 37 |
+
-0.9961900115013123,
|
| 38 |
+
-0.0,
|
| 39 |
+
1.8779799938201904
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
-0.9961900115013123,
|
| 43 |
+
0.08715999871492386,
|
| 44 |
+
-0.0,
|
| 45 |
+
-0.09809000045061111
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.0,
|
| 49 |
+
0.0,
|
| 50 |
+
-1.0,
|
| 51 |
+
1.5
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
}
|
assets/urdf/Lighter/100293/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Lighter", "name": "Lighter", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-6", "original-8", "original-7", "original-21", "original-10", "original-11", "original-18"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-30", "original-24", "original-31"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-28", "original-22", "original-26", "original-4", "original-3", "original-2", "original-16", "original-13", "original-9", "original-5", "original-27", "original-15", "original-23", "original-25", "original-17", "original-12", "original-20", "original-1", "original-14", "original-19"]}]}]
|
assets/urdf/Lighter/100293/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Lighter", "text": "Lighter", "children": [{"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-6", "original-8", "original-7", "original-21", "original-10", "original-11", "original-18"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-30", "original-24", "original-31"]}]}]
|
assets/urdf/Lighter/100293/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge wheel
|
| 2 |
+
link_1 slider button
|
| 3 |
+
link_2 free lighter_body
|
assets/urdf/Lighter/100294/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.080867, -0.937946, -0.29443], "max": [0.072112, 0.985916, 0.297879]}
|
assets/urdf/Lighter/100294/grasp_poses.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "100294",
|
| 3 |
+
"scale": 0.04,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"button": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
+
"matrix": [
|
| 9 |
+
[
|
| 10 |
+
0.9961900115013123,
|
| 11 |
+
-0.08715999871492386,
|
| 12 |
+
-0.0,
|
| 13 |
+
0.25
|
| 14 |
+
],
|
| 15 |
+
[
|
| 16 |
+
-0.08681999891996384,
|
| 17 |
+
-0.9923999905586243,
|
| 18 |
+
-0.08715999871492386,
|
| 19 |
+
-1.6410499811172485
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
0.007600000128149986,
|
| 23 |
+
0.08681999891996384,
|
| 24 |
+
-0.9961900115013123,
|
| 25 |
+
1.7452399730682373
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
1.0
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
]
|
| 38 |
+
}
|
| 39 |
+
}
|
assets/urdf/Lighter/100294/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Lighter", "model_id": "3b12bd5cc1663a8cd8d03ca4865da5b6", "version": "2", "anno_id": "294", "time_in_sec": "551"}
|
assets/urdf/Lighter/100294/mobility.urdf
ADDED
|
@@ -0,0 +1,64 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_3b12bd5cc1663a8cd8d03ca4865da5b6">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="wheel-1">
|
| 6 |
+
<origin xyz="0 -0.9083049999999999 -0.0058465000000000045"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<collision>
|
| 12 |
+
<origin xyz="0 -0.9083049999999999 -0.0058465000000000045"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</collision>
|
| 17 |
+
</link>
|
| 18 |
+
<joint name="joint_0" type="continuous">
|
| 19 |
+
<origin xyz="0 0.9083049999999999 0.0058465000000000045"/>
|
| 20 |
+
<axis xyz="1 0 0"/>
|
| 21 |
+
<child link="link_0"/>
|
| 22 |
+
<parent link="link_2"/>
|
| 23 |
+
</joint>
|
| 24 |
+
<link name="link_1">
|
| 25 |
+
<visual name="button-2">
|
| 26 |
+
<origin xyz="0.08051099999999956 -0.8005712131854398 0.034592059607039254"/>
|
| 27 |
+
<geometry>
|
| 28 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 29 |
+
</geometry>
|
| 30 |
+
</visual>
|
| 31 |
+
<collision>
|
| 32 |
+
<origin xyz="0.08051099999999956 -0.8005712131854398 0.034592059607039254"/>
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</collision>
|
| 37 |
+
</link>
|
| 38 |
+
<joint name="joint_1" type="revolute">
|
| 39 |
+
<origin xyz="-0.08051099999999956 0.8005712131854398 -0.034592059607039254"/>
|
| 40 |
+
<axis xyz="-1 0 0"/>
|
| 41 |
+
<child link="link_1"/>
|
| 42 |
+
<parent link="link_2"/>
|
| 43 |
+
<limit lower="-0.0" upper="0.15707963267948966"/>
|
| 44 |
+
</joint>
|
| 45 |
+
<link name="link_2">
|
| 46 |
+
<visual name="base_body-3">
|
| 47 |
+
<origin xyz="0 0 0"/>
|
| 48 |
+
<geometry>
|
| 49 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 50 |
+
</geometry>
|
| 51 |
+
</visual>
|
| 52 |
+
<collision>
|
| 53 |
+
<origin xyz="0 0 0"/>
|
| 54 |
+
<geometry>
|
| 55 |
+
<mesh filename="textured_objs/original-2.obj"/>
|
| 56 |
+
</geometry>
|
| 57 |
+
</collision>
|
| 58 |
+
</link>
|
| 59 |
+
<joint name="joint_2" type="fixed">
|
| 60 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 61 |
+
<child link="link_2"/>
|
| 62 |
+
<parent link="base"/>
|
| 63 |
+
</joint>
|
| 64 |
+
</robot>
|
assets/urdf/Lighter/100294/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, 0.9083049999999999, 0.0058465000000000045], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.08051099999999956, 0.8005712131854398, -0.034592059607039254], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -9, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
|
assets/urdf/Lighter/100294/model_data.json
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.04,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
+
[
|
| 5 |
+
1.0,
|
| 6 |
+
0.0,
|
| 7 |
+
0.0,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
[
|
| 11 |
+
0.0,
|
| 12 |
+
1.0,
|
| 13 |
+
0.0,
|
| 14 |
+
0.0
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
1.0,
|
| 20 |
+
0.0
|
| 21 |
+
],
|
| 22 |
+
[
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0
|
| 27 |
+
]
|
| 28 |
+
],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"button": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
+
[
|
| 36 |
+
0.9961900115013123,
|
| 37 |
+
-0.08715999871492386,
|
| 38 |
+
-0.0,
|
| 39 |
+
0.25
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
-0.08681999891996384,
|
| 43 |
+
-0.9923999905586243,
|
| 44 |
+
-0.08715999871492386,
|
| 45 |
+
-1.6410499811172485
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.007600000128149986,
|
| 49 |
+
0.08681999891996384,
|
| 50 |
+
-0.9961900115013123,
|
| 51 |
+
1.7452399730682373
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
}
|
assets/urdf/Lighter/100294/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Lighter", "name": "Lighter", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-1"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-2"]}]}]
|
assets/urdf/Lighter/100294/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Lighter", "text": "Lighter", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-1"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-3"]}]}]
|
assets/urdf/Lighter/100294/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge wheel
|
| 2 |
+
link_1 hinge rotation_button
|
| 3 |
+
link_2 free lighter_body
|
assets/urdf/Lighter/100295/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.145273, -0.979694, -0.292208], "max": [0.149601, 0.88363, 0.270242]}
|
assets/urdf/Lighter/100295/grasp_poses.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"object_name": "100295",
|
| 3 |
+
"scale": 0.04,
|
| 4 |
+
"grasp_parts": {
|
| 5 |
+
"button": [
|
| 6 |
+
{
|
| 7 |
+
"id": 0,
|
| 8 |
+
"matrix": [
|
| 9 |
+
[
|
| 10 |
+
-0.9961900115013123,
|
| 11 |
+
0.08715999871492386,
|
| 12 |
+
-0.0,
|
| 13 |
+
0.5241100192070007
|
| 14 |
+
],
|
| 15 |
+
[
|
| 16 |
+
0.08715999871492386,
|
| 17 |
+
0.9961900115013123,
|
| 18 |
+
0.0,
|
| 19 |
+
1.5254900455474854
|
| 20 |
+
],
|
| 21 |
+
[
|
| 22 |
+
0.0,
|
| 23 |
+
-0.0,
|
| 24 |
+
-1.0,
|
| 25 |
+
1.4734599590301514
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
0.0,
|
| 29 |
+
0.0,
|
| 30 |
+
0.0,
|
| 31 |
+
1.0
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"base": "base",
|
| 35 |
+
"description": ""
|
| 36 |
+
}
|
| 37 |
+
]
|
| 38 |
+
}
|
| 39 |
+
}
|
assets/urdf/Lighter/100295/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"user_id": "KeplerSN", "model_cat": "Lighter", "model_id": "3bebd539-4198-4eee-ae17-daaed2047499", "version": "2", "anno_id": "295", "time_in_sec": "346"}
|
assets/urdf/Lighter/100295/mobility.urdf
ADDED
|
@@ -0,0 +1,220 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_3bebd539-4198-4eee-ae17-daaed2047499">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="wheel-1">
|
| 6 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="wheel-1">
|
| 12 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<visual name="wheel-1">
|
| 18 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<collision>
|
| 24 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original-19.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</collision>
|
| 29 |
+
<collision>
|
| 30 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="textured_objs/original-20.obj"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</collision>
|
| 35 |
+
<collision>
|
| 36 |
+
<origin xyz="0 -0.7812764999999999 0.056499499999999994"/>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="textured_objs/original-21.obj"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</collision>
|
| 41 |
+
</link>
|
| 42 |
+
<joint name="joint_0" type="continuous">
|
| 43 |
+
<origin xyz="0 0.7812764999999999 -0.056499499999999994"/>
|
| 44 |
+
<axis xyz="1 0 0"/>
|
| 45 |
+
<child link="link_0"/>
|
| 46 |
+
<parent link="link_2"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="link_1">
|
| 49 |
+
<visual name="button-2">
|
| 50 |
+
<origin xyz="0.13751332249565218 -0.5860097094443975 0.06813385762053797"/>
|
| 51 |
+
<geometry>
|
| 52 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 53 |
+
</geometry>
|
| 54 |
+
</visual>
|
| 55 |
+
<collision>
|
| 56 |
+
<origin xyz="0.13751332249565218 -0.5860097094443975 0.06813385762053797"/>
|
| 57 |
+
<geometry>
|
| 58 |
+
<mesh filename="textured_objs/original-11.obj"/>
|
| 59 |
+
</geometry>
|
| 60 |
+
</collision>
|
| 61 |
+
</link>
|
| 62 |
+
<joint name="joint_1" type="revolute">
|
| 63 |
+
<origin xyz="-0.13751332249565218 0.5860097094443975 -0.06813385762053797"/>
|
| 64 |
+
<axis xyz="-1 0 0"/>
|
| 65 |
+
<child link="link_1"/>
|
| 66 |
+
<parent link="link_2"/>
|
| 67 |
+
<limit lower="-0.0" upper="0.13194689145077135"/>
|
| 68 |
+
</joint>
|
| 69 |
+
<link name="link_2">
|
| 70 |
+
<visual name="base_body-3">
|
| 71 |
+
<origin xyz="0 0 0"/>
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<visual name="base_body-3">
|
| 77 |
+
<origin xyz="0 0 0"/>
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 80 |
+
</geometry>
|
| 81 |
+
</visual>
|
| 82 |
+
<visual name="base_body-3">
|
| 83 |
+
<origin xyz="0 0 0"/>
|
| 84 |
+
<geometry>
|
| 85 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 86 |
+
</geometry>
|
| 87 |
+
</visual>
|
| 88 |
+
<visual name="base_body-3">
|
| 89 |
+
<origin xyz="0 0 0"/>
|
| 90 |
+
<geometry>
|
| 91 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 92 |
+
</geometry>
|
| 93 |
+
</visual>
|
| 94 |
+
<visual name="base_body-3">
|
| 95 |
+
<origin xyz="0 0 0"/>
|
| 96 |
+
<geometry>
|
| 97 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 98 |
+
</geometry>
|
| 99 |
+
</visual>
|
| 100 |
+
<visual name="base_body-3">
|
| 101 |
+
<origin xyz="0 0 0"/>
|
| 102 |
+
<geometry>
|
| 103 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
</visual>
|
| 106 |
+
<visual name="base_body-3">
|
| 107 |
+
<origin xyz="0 0 0"/>
|
| 108 |
+
<geometry>
|
| 109 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</visual>
|
| 112 |
+
<visual name="base_body-3">
|
| 113 |
+
<origin xyz="0 0 0"/>
|
| 114 |
+
<geometry>
|
| 115 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 116 |
+
</geometry>
|
| 117 |
+
</visual>
|
| 118 |
+
<visual name="base_body-3">
|
| 119 |
+
<origin xyz="0 0 0"/>
|
| 120 |
+
<geometry>
|
| 121 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 122 |
+
</geometry>
|
| 123 |
+
</visual>
|
| 124 |
+
<visual name="base_body-3">
|
| 125 |
+
<origin xyz="0 0 0"/>
|
| 126 |
+
<geometry>
|
| 127 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 128 |
+
</geometry>
|
| 129 |
+
</visual>
|
| 130 |
+
<visual name="base_body-3">
|
| 131 |
+
<origin xyz="0 0 0"/>
|
| 132 |
+
<geometry>
|
| 133 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 134 |
+
</geometry>
|
| 135 |
+
</visual>
|
| 136 |
+
<visual name="base_body-3">
|
| 137 |
+
<origin xyz="0 0 0"/>
|
| 138 |
+
<geometry>
|
| 139 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 140 |
+
</geometry>
|
| 141 |
+
</visual>
|
| 142 |
+
<collision>
|
| 143 |
+
<origin xyz="0 0 0"/>
|
| 144 |
+
<geometry>
|
| 145 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 146 |
+
</geometry>
|
| 147 |
+
</collision>
|
| 148 |
+
<collision>
|
| 149 |
+
<origin xyz="0 0 0"/>
|
| 150 |
+
<geometry>
|
| 151 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 152 |
+
</geometry>
|
| 153 |
+
</collision>
|
| 154 |
+
<collision>
|
| 155 |
+
<origin xyz="0 0 0"/>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
</collision>
|
| 160 |
+
<collision>
|
| 161 |
+
<origin xyz="0 0 0"/>
|
| 162 |
+
<geometry>
|
| 163 |
+
<mesh filename="textured_objs/original-8.obj"/>
|
| 164 |
+
</geometry>
|
| 165 |
+
</collision>
|
| 166 |
+
<collision>
|
| 167 |
+
<origin xyz="0 0 0"/>
|
| 168 |
+
<geometry>
|
| 169 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 170 |
+
</geometry>
|
| 171 |
+
</collision>
|
| 172 |
+
<collision>
|
| 173 |
+
<origin xyz="0 0 0"/>
|
| 174 |
+
<geometry>
|
| 175 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 176 |
+
</geometry>
|
| 177 |
+
</collision>
|
| 178 |
+
<collision>
|
| 179 |
+
<origin xyz="0 0 0"/>
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="textured_objs/original-5.obj"/>
|
| 182 |
+
</geometry>
|
| 183 |
+
</collision>
|
| 184 |
+
<collision>
|
| 185 |
+
<origin xyz="0 0 0"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</collision>
|
| 190 |
+
<collision>
|
| 191 |
+
<origin xyz="0 0 0"/>
|
| 192 |
+
<geometry>
|
| 193 |
+
<mesh filename="textured_objs/original-17.obj"/>
|
| 194 |
+
</geometry>
|
| 195 |
+
</collision>
|
| 196 |
+
<collision>
|
| 197 |
+
<origin xyz="0 0 0"/>
|
| 198 |
+
<geometry>
|
| 199 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 200 |
+
</geometry>
|
| 201 |
+
</collision>
|
| 202 |
+
<collision>
|
| 203 |
+
<origin xyz="0 0 0"/>
|
| 204 |
+
<geometry>
|
| 205 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 206 |
+
</geometry>
|
| 207 |
+
</collision>
|
| 208 |
+
<collision>
|
| 209 |
+
<origin xyz="0 0 0"/>
|
| 210 |
+
<geometry>
|
| 211 |
+
<mesh filename="textured_objs/original-1.obj"/>
|
| 212 |
+
</geometry>
|
| 213 |
+
</collision>
|
| 214 |
+
</link>
|
| 215 |
+
<joint name="joint_2" type="fixed">
|
| 216 |
+
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
|
| 217 |
+
<child link="link_2"/>
|
| 218 |
+
<parent link="base"/>
|
| 219 |
+
</joint>
|
| 220 |
+
</robot>
|
assets/urdf/Lighter/100295/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, 0.7812764999999999, -0.056499499999999994], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.13751332249565218, 0.5860097094443975, -0.06813385762053797], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -7.560000000000002, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
|
assets/urdf/Lighter/100295/model_data.json
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scale": 0.04,
|
| 3 |
+
"transform_matrix": [
|
| 4 |
+
[
|
| 5 |
+
1.0,
|
| 6 |
+
0.0,
|
| 7 |
+
0.0,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
[
|
| 11 |
+
0.0,
|
| 12 |
+
1.0,
|
| 13 |
+
0.0,
|
| 14 |
+
0.0
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
1.0,
|
| 20 |
+
0.0
|
| 21 |
+
],
|
| 22 |
+
[
|
| 23 |
+
0.0,
|
| 24 |
+
0.0,
|
| 25 |
+
0.0,
|
| 26 |
+
1.0
|
| 27 |
+
]
|
| 28 |
+
],
|
| 29 |
+
"init_qpos": [],
|
| 30 |
+
"grasp_parts": {
|
| 31 |
+
"button": [
|
| 32 |
+
{
|
| 33 |
+
"id": 0,
|
| 34 |
+
"matrix": [
|
| 35 |
+
[
|
| 36 |
+
-0.9961900115013123,
|
| 37 |
+
0.08715999871492386,
|
| 38 |
+
-0.0,
|
| 39 |
+
0.5241100192070007
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
0.08715999871492386,
|
| 43 |
+
0.9961900115013123,
|
| 44 |
+
0.0,
|
| 45 |
+
1.5254900455474854
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.0,
|
| 49 |
+
-0.0,
|
| 50 |
+
-1.0,
|
| 51 |
+
1.4734599590301514
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.0,
|
| 57 |
+
1.0
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"base": "base",
|
| 61 |
+
"description": ""
|
| 62 |
+
}
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
}
|
assets/urdf/Lighter/100295/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Lighter", "name": "Lighter", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-19", "original-20", "original-21"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-11"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-16", "original-8", "original-13", "original-9", "original-5", "original-15", "original-17", "original-12", "original-7", "original-1"]}]}]
|
assets/urdf/Lighter/100295/result_original.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id": 0, "name": "Lighter", "text": "Lighter", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-19", "original-20", "original-21"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-11"]}]}]
|
assets/urdf/Lighter/100295/semantics.txt
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 hinge wheel
|
| 2 |
+
link_1 hinge rotation_button
|
| 3 |
+
link_2 free lighter_body
|
assets/urdf/Lighter/100295/textured_objs/original-11.mtl
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_0.jpg
|
| 8 |
+
|
| 9 |
+
newmtl material_1_0
|
| 10 |
+
illum 3
|
| 11 |
+
d 1
|
| 12 |
+
Ns 30
|
| 13 |
+
Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333
|
| 14 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 15 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-11.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
assets/urdf/Lighter/100295/textured_objs/original-12.mtl
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_0.jpg
|
| 8 |
+
|
| 9 |
+
newmtl material_1_0
|
| 10 |
+
illum 3
|
| 11 |
+
d 1
|
| 12 |
+
Ns 30
|
| 13 |
+
Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333
|
| 14 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 15 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-12.obj
ADDED
|
@@ -0,0 +1,144 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 12
|
| 3 |
+
mtllib original-12.mtl
|
| 4 |
+
o #ID77
|
| 5 |
+
v 0.109582 0.567921 -0.087673
|
| 6 |
+
v 0.002128 0.567921 -0.118367
|
| 7 |
+
v 0.002150 0.567921 -0.087631
|
| 8 |
+
v 0.109552 0.567921 -0.128654
|
| 9 |
+
v -0.105312 0.567925 -0.087673
|
| 10 |
+
v 0.002105 0.567924 -0.087631
|
| 11 |
+
v -0.105282 0.567921 -0.128654
|
| 12 |
+
v 0.104359 0.567921 -0.139309
|
| 13 |
+
v -0.100089 0.567921 -0.139309
|
| 14 |
+
v 0.097209 0.567921 -0.152265
|
| 15 |
+
v -0.092939 0.567921 -0.152265
|
| 16 |
+
v 0.089336 0.567921 -0.164996
|
| 17 |
+
v -0.085066 0.567921 -0.164996
|
| 18 |
+
v 0.080752 0.567921 -0.177479
|
| 19 |
+
v -0.076482 0.567921 -0.177479
|
| 20 |
+
v 0.071473 0.567921 -0.189694
|
| 21 |
+
v -0.067202 0.567921 -0.189694
|
| 22 |
+
v 0.061512 0.567921 -0.201620
|
| 23 |
+
v -0.057242 0.567921 -0.201620
|
| 24 |
+
v 0.050889 0.567921 -0.213238
|
| 25 |
+
v -0.046619 0.567921 -0.213238
|
| 26 |
+
v 0.039620 0.567921 -0.224526
|
| 27 |
+
v -0.035349 0.567921 -0.224526
|
| 28 |
+
v 0.027724 0.567921 -0.235467
|
| 29 |
+
v -0.023454 0.567921 -0.235467
|
| 30 |
+
v 0.015222 0.567921 -0.246041
|
| 31 |
+
v -0.010952 0.567921 -0.246041
|
| 32 |
+
v 0.002135 0.567921 -0.256231
|
| 33 |
+
v 0.002135 0.567921 -0.256231
|
| 34 |
+
v 0.015222 0.567921 -0.246041
|
| 35 |
+
v -0.010952 0.567921 -0.246041
|
| 36 |
+
v -0.023454 0.567921 -0.235467
|
| 37 |
+
v 0.027724 0.567921 -0.235467
|
| 38 |
+
v -0.035349 0.567921 -0.224526
|
| 39 |
+
v 0.039620 0.567921 -0.224526
|
| 40 |
+
v -0.046619 0.567921 -0.213238
|
| 41 |
+
v 0.050889 0.567921 -0.213238
|
| 42 |
+
v -0.057242 0.567921 -0.201620
|
| 43 |
+
v 0.061512 0.567921 -0.201620
|
| 44 |
+
v -0.067202 0.567921 -0.189694
|
| 45 |
+
v 0.071473 0.567921 -0.189694
|
| 46 |
+
v -0.076482 0.567921 -0.177479
|
| 47 |
+
v 0.080752 0.567921 -0.177479
|
| 48 |
+
v -0.085066 0.567921 -0.164996
|
| 49 |
+
v 0.089336 0.567921 -0.164996
|
| 50 |
+
v -0.092939 0.567921 -0.152265
|
| 51 |
+
v 0.097209 0.567921 -0.152265
|
| 52 |
+
v -0.100089 0.567921 -0.139309
|
| 53 |
+
v 0.104359 0.567921 -0.139309
|
| 54 |
+
v -0.105282 0.567921 -0.128654
|
| 55 |
+
v 0.109552 0.567921 -0.128654
|
| 56 |
+
v 0.002128 0.567921 -0.118367
|
| 57 |
+
v -0.105312 0.567925 -0.087673
|
| 58 |
+
v 0.002105 0.567924 -0.087631
|
| 59 |
+
v 0.109582 0.567921 -0.087673
|
| 60 |
+
v 0.002150 0.567921 -0.087631
|
| 61 |
+
vt 0.2691295 0.06825948
|
| 62 |
+
vt 0.2492371 0.06204349
|
| 63 |
+
vt 0.2492371 0.07447548
|
| 64 |
+
vt 0.2285946 0.08041353
|
| 65 |
+
vt 0.2285946 0.05610543
|
| 66 |
+
vt 0.2072371 0.0860636
|
| 67 |
+
vt 0.2072371 0.05045536
|
| 68 |
+
vt 0.1852005 0.09141613
|
| 69 |
+
vt 0.1852005 0.04510283
|
| 70 |
+
vt 0.1625223 0.09646206
|
| 71 |
+
vt 0.1625223 0.04005691
|
| 72 |
+
vt 0.1392407 0.1011929
|
| 73 |
+
vt 0.1392407 0.03532611
|
| 74 |
+
vt 0.1153952 0.1056005
|
| 75 |
+
vt 0.1153952 0.03091846
|
| 76 |
+
vt 0.09102608 0.1096776
|
| 77 |
+
vt 0.09102608 0.0268414
|
| 78 |
+
vt 0.06617459 0.1134171
|
| 79 |
+
vt 0.06617459 0.02310184
|
| 80 |
+
vt 0.04088278 0.1168129
|
| 81 |
+
vt 0.04088278 0.0197061
|
| 82 |
+
vt 0.02008122 0.1192795
|
| 83 |
+
vt 0.02008122 0.01723951
|
| 84 |
+
vt 0 0.06826302
|
| 85 |
+
vt -0.05991877 0.1192937
|
| 86 |
+
vt -0.05999999 0.06827376
|
| 87 |
+
vt -0.05991846 0.01722537
|
| 88 |
+
vt -0.05999968 0.06825242
|
| 89 |
+
vn 0 1 1.691234e-8
|
| 90 |
+
vn 0 -1 -1.691234e-8
|
| 91 |
+
usemtl material_0_0
|
| 92 |
+
f 29/1/2 30/2/2 31/3/2
|
| 93 |
+
f 31/3/2 30/2/2 32/4/2
|
| 94 |
+
f 30/2/2 33/5/2 32/4/2
|
| 95 |
+
f 32/4/2 33/5/2 34/6/2
|
| 96 |
+
f 33/5/2 35/7/2 34/6/2
|
| 97 |
+
f 34/6/2 35/7/2 36/8/2
|
| 98 |
+
f 35/7/2 37/9/2 36/8/2
|
| 99 |
+
f 36/8/2 37/9/2 38/10/2
|
| 100 |
+
f 37/9/2 39/11/2 38/10/2
|
| 101 |
+
f 38/10/2 39/11/2 40/12/2
|
| 102 |
+
f 39/11/2 41/13/2 40/12/2
|
| 103 |
+
f 40/12/2 41/13/2 42/14/2
|
| 104 |
+
f 41/13/2 43/15/2 42/14/2
|
| 105 |
+
f 42/14/2 43/15/2 44/16/2
|
| 106 |
+
f 43/15/2 45/17/2 44/16/2
|
| 107 |
+
f 44/16/2 45/17/2 46/18/2
|
| 108 |
+
f 45/17/2 47/19/2 46/18/2
|
| 109 |
+
f 46/18/2 47/19/2 48/20/2
|
| 110 |
+
f 47/19/2 49/21/2 48/20/2
|
| 111 |
+
f 48/20/2 49/21/2 50/22/2
|
| 112 |
+
f 49/21/2 51/23/2 50/22/2
|
| 113 |
+
f 51/23/2 52/24/2 50/22/2
|
| 114 |
+
f 50/22/2 52/24/2 53/25/2
|
| 115 |
+
f 54/26/2 53/25/2 52/24/2
|
| 116 |
+
f 51/23/2 55/27/2 52/24/2
|
| 117 |
+
f 56/28/2 52/24/2 55/27/2
|
| 118 |
+
usemtl material_1_0
|
| 119 |
+
f 1//1 2//1 3//1
|
| 120 |
+
f 2//1 1//1 4//1
|
| 121 |
+
f 2//1 5//1 6//1
|
| 122 |
+
f 5//1 2//1 7//1
|
| 123 |
+
f 7//1 2//1 4//1
|
| 124 |
+
f 7//1 4//1 8//1
|
| 125 |
+
f 7//1 8//1 9//1
|
| 126 |
+
f 9//1 8//1 10//1
|
| 127 |
+
f 9//1 10//1 11//1
|
| 128 |
+
f 11//1 10//1 12//1
|
| 129 |
+
f 11//1 12//1 13//1
|
| 130 |
+
f 13//1 12//1 14//1
|
| 131 |
+
f 13//1 14//1 15//1
|
| 132 |
+
f 15//1 14//1 16//1
|
| 133 |
+
f 15//1 16//1 17//1
|
| 134 |
+
f 17//1 16//1 18//1
|
| 135 |
+
f 17//1 18//1 19//1
|
| 136 |
+
f 19//1 18//1 20//1
|
| 137 |
+
f 19//1 20//1 21//1
|
| 138 |
+
f 21//1 20//1 22//1
|
| 139 |
+
f 21//1 22//1 23//1
|
| 140 |
+
f 23//1 22//1 24//1
|
| 141 |
+
f 23//1 24//1 25//1
|
| 142 |
+
f 25//1 24//1 26//1
|
| 143 |
+
f 25//1 26//1 27//1
|
| 144 |
+
f 27//1 26//1 28//1
|
assets/urdf/Lighter/100295/textured_objs/original-16.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_3.jpg
|
| 8 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-17.obj
ADDED
|
@@ -0,0 +1,522 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 17
|
| 3 |
+
mtllib original-17.mtl
|
| 4 |
+
o group_8/ID121#ID121
|
| 5 |
+
v -0.130755 0.741692 -0.045893
|
| 6 |
+
v 0.135173 0.745786 -0.036009
|
| 7 |
+
v -0.130755 0.745786 -0.036009
|
| 8 |
+
v 0.135173 0.741692 -0.045893
|
| 9 |
+
v 0.135173 0.741692 -0.045893
|
| 10 |
+
v -0.130755 0.741692 -0.045893
|
| 11 |
+
v 0.135173 0.745786 -0.036009
|
| 12 |
+
v -0.130755 0.745786 -0.036009
|
| 13 |
+
v -0.130755 0.740296 -0.056500
|
| 14 |
+
v 0.135173 0.740296 -0.056500
|
| 15 |
+
v 0.135173 0.740296 -0.056500
|
| 16 |
+
v -0.130755 0.740296 -0.056500
|
| 17 |
+
v 0.135173 0.741692 -0.067106
|
| 18 |
+
v 0.135173 0.741692 -0.045893
|
| 19 |
+
v 0.135173 0.740296 -0.056500
|
| 20 |
+
v 0.135173 0.745786 -0.076990
|
| 21 |
+
v 0.135173 0.745786 -0.036009
|
| 22 |
+
v 0.135173 0.752299 -0.085477
|
| 23 |
+
v 0.135173 0.752299 -0.027522
|
| 24 |
+
v 0.135173 0.760786 -0.091990
|
| 25 |
+
v 0.135173 0.760786 -0.021009
|
| 26 |
+
v 0.135173 0.770670 -0.096084
|
| 27 |
+
v 0.135173 0.770670 -0.016915
|
| 28 |
+
v 0.135173 0.781277 -0.097480
|
| 29 |
+
v 0.135173 0.781277 -0.015519
|
| 30 |
+
v 0.135173 0.791883 -0.096084
|
| 31 |
+
v 0.135173 0.791883 -0.016915
|
| 32 |
+
v 0.135173 0.801767 -0.021009
|
| 33 |
+
v 0.135173 0.801767 -0.091990
|
| 34 |
+
v 0.135173 0.810254 -0.085477
|
| 35 |
+
v 0.135173 0.810254 -0.027522
|
| 36 |
+
v 0.135173 0.816767 -0.076990
|
| 37 |
+
v 0.135173 0.816767 -0.036009
|
| 38 |
+
v 0.135173 0.820861 -0.067106
|
| 39 |
+
v 0.135173 0.820861 -0.045893
|
| 40 |
+
v 0.135173 0.822257 -0.056500
|
| 41 |
+
v 0.135173 0.822257 -0.056500
|
| 42 |
+
v 0.135173 0.820861 -0.067106
|
| 43 |
+
v 0.135173 0.820861 -0.045893
|
| 44 |
+
v 0.135173 0.816767 -0.036009
|
| 45 |
+
v 0.135173 0.816767 -0.076990
|
| 46 |
+
v 0.135173 0.810254 -0.027522
|
| 47 |
+
v 0.135173 0.810254 -0.085477
|
| 48 |
+
v 0.135173 0.801767 -0.021009
|
| 49 |
+
v 0.135173 0.801767 -0.091990
|
| 50 |
+
v 0.135173 0.791883 -0.096084
|
| 51 |
+
v 0.135173 0.791883 -0.016915
|
| 52 |
+
v 0.135173 0.781277 -0.015519
|
| 53 |
+
v 0.135173 0.781277 -0.097480
|
| 54 |
+
v 0.135173 0.770670 -0.016915
|
| 55 |
+
v 0.135173 0.770670 -0.096084
|
| 56 |
+
v 0.135173 0.760786 -0.021009
|
| 57 |
+
v 0.135173 0.760786 -0.091990
|
| 58 |
+
v 0.135173 0.752299 -0.027522
|
| 59 |
+
v 0.135173 0.752299 -0.085477
|
| 60 |
+
v 0.135173 0.745786 -0.036009
|
| 61 |
+
v 0.135173 0.745786 -0.076990
|
| 62 |
+
v 0.135173 0.741692 -0.045893
|
| 63 |
+
v 0.135173 0.741692 -0.067106
|
| 64 |
+
v 0.135173 0.740296 -0.056500
|
| 65 |
+
v 0.135173 0.752299 -0.027522
|
| 66 |
+
v -0.130755 0.752299 -0.027522
|
| 67 |
+
v 0.135173 0.752299 -0.027522
|
| 68 |
+
v -0.130755 0.752299 -0.027522
|
| 69 |
+
v -0.130755 0.741692 -0.045893
|
| 70 |
+
v -0.130755 0.741692 -0.067106
|
| 71 |
+
v -0.130755 0.740296 -0.056500
|
| 72 |
+
v -0.130755 0.745786 -0.036009
|
| 73 |
+
v -0.130755 0.745786 -0.076990
|
| 74 |
+
v -0.130755 0.752299 -0.027522
|
| 75 |
+
v -0.130755 0.752299 -0.085477
|
| 76 |
+
v -0.130755 0.760786 -0.021009
|
| 77 |
+
v -0.130755 0.760786 -0.091990
|
| 78 |
+
v -0.130755 0.770670 -0.016915
|
| 79 |
+
v -0.130755 0.770670 -0.096084
|
| 80 |
+
v -0.130755 0.781277 -0.015519
|
| 81 |
+
v -0.130755 0.781277 -0.097480
|
| 82 |
+
v -0.130755 0.791883 -0.016915
|
| 83 |
+
v -0.130755 0.791883 -0.096084
|
| 84 |
+
v -0.130755 0.801767 -0.021009
|
| 85 |
+
v -0.130755 0.801767 -0.091990
|
| 86 |
+
v -0.130755 0.810254 -0.027522
|
| 87 |
+
v -0.130755 0.810254 -0.085477
|
| 88 |
+
v -0.130755 0.816767 -0.036009
|
| 89 |
+
v -0.130755 0.816767 -0.076990
|
| 90 |
+
v -0.130755 0.820861 -0.045893
|
| 91 |
+
v -0.130755 0.820861 -0.067106
|
| 92 |
+
v -0.130755 0.822257 -0.056500
|
| 93 |
+
v -0.130755 0.822257 -0.056500
|
| 94 |
+
v -0.130755 0.820861 -0.045893
|
| 95 |
+
v -0.130755 0.820861 -0.067106
|
| 96 |
+
v -0.130755 0.816767 -0.076990
|
| 97 |
+
v -0.130755 0.816767 -0.036009
|
| 98 |
+
v -0.130755 0.810254 -0.085477
|
| 99 |
+
v -0.130755 0.810254 -0.027522
|
| 100 |
+
v -0.130755 0.801767 -0.091990
|
| 101 |
+
v -0.130755 0.801767 -0.021009
|
| 102 |
+
v -0.130755 0.791883 -0.096084
|
| 103 |
+
v -0.130755 0.791883 -0.016915
|
| 104 |
+
v -0.130755 0.781277 -0.097480
|
| 105 |
+
v -0.130755 0.781277 -0.015519
|
| 106 |
+
v -0.130755 0.770670 -0.096084
|
| 107 |
+
v -0.130755 0.770670 -0.016915
|
| 108 |
+
v -0.130755 0.760786 -0.091990
|
| 109 |
+
v -0.130755 0.760786 -0.021009
|
| 110 |
+
v -0.130755 0.752299 -0.085477
|
| 111 |
+
v -0.130755 0.752299 -0.027522
|
| 112 |
+
v -0.130755 0.745786 -0.076990
|
| 113 |
+
v -0.130755 0.745786 -0.036009
|
| 114 |
+
v -0.130755 0.741692 -0.067106
|
| 115 |
+
v -0.130755 0.741692 -0.045893
|
| 116 |
+
v -0.130755 0.740296 -0.056500
|
| 117 |
+
v -0.130755 0.741692 -0.067106
|
| 118 |
+
v 0.135173 0.741692 -0.067106
|
| 119 |
+
v 0.135173 0.741692 -0.067106
|
| 120 |
+
v -0.130755 0.741692 -0.067106
|
| 121 |
+
v 0.135173 0.820861 -0.067106
|
| 122 |
+
v -0.130755 0.822257 -0.056500
|
| 123 |
+
v 0.135173 0.822257 -0.056500
|
| 124 |
+
v -0.130755 0.820861 -0.067106
|
| 125 |
+
v -0.130755 0.820861 -0.067106
|
| 126 |
+
v 0.135173 0.820861 -0.067106
|
| 127 |
+
v -0.130755 0.822257 -0.056500
|
| 128 |
+
v 0.135173 0.822257 -0.056500
|
| 129 |
+
v -0.130755 0.820861 -0.045893
|
| 130 |
+
v 0.135173 0.820861 -0.045893
|
| 131 |
+
v -0.130755 0.820861 -0.045893
|
| 132 |
+
v 0.135173 0.820861 -0.045893
|
| 133 |
+
v -0.130755 0.816767 -0.036009
|
| 134 |
+
v 0.135173 0.816767 -0.036009
|
| 135 |
+
v -0.130755 0.816767 -0.036009
|
| 136 |
+
v 0.135173 0.816767 -0.036009
|
| 137 |
+
v -0.130755 0.810254 -0.027522
|
| 138 |
+
v 0.135173 0.810254 -0.027522
|
| 139 |
+
v -0.130755 0.810254 -0.027522
|
| 140 |
+
v 0.135173 0.810254 -0.027522
|
| 141 |
+
v 0.135173 0.801767 -0.021009
|
| 142 |
+
v -0.130755 0.801767 -0.021009
|
| 143 |
+
v -0.130755 0.801767 -0.021009
|
| 144 |
+
v 0.135173 0.801767 -0.021009
|
| 145 |
+
v 0.135173 0.791883 -0.016915
|
| 146 |
+
v -0.130755 0.791883 -0.016915
|
| 147 |
+
v -0.130755 0.791883 -0.016915
|
| 148 |
+
v 0.135173 0.791883 -0.016915
|
| 149 |
+
v 0.135173 0.781277 -0.015519
|
| 150 |
+
v -0.130755 0.781277 -0.015519
|
| 151 |
+
v -0.130755 0.781277 -0.015519
|
| 152 |
+
v 0.135173 0.781277 -0.015519
|
| 153 |
+
v 0.135173 0.770670 -0.016915
|
| 154 |
+
v -0.130755 0.770670 -0.016915
|
| 155 |
+
v -0.130755 0.770670 -0.016915
|
| 156 |
+
v 0.135173 0.770670 -0.016915
|
| 157 |
+
v 0.135173 0.760786 -0.021009
|
| 158 |
+
v -0.130755 0.760786 -0.021009
|
| 159 |
+
v -0.130755 0.760786 -0.021009
|
| 160 |
+
v 0.135173 0.760786 -0.021009
|
| 161 |
+
v -0.130755 0.745786 -0.076990
|
| 162 |
+
v 0.135173 0.745786 -0.076990
|
| 163 |
+
v 0.135173 0.745786 -0.076990
|
| 164 |
+
v -0.130755 0.745786 -0.076990
|
| 165 |
+
v -0.130755 0.752299 -0.085477
|
| 166 |
+
v 0.135173 0.752299 -0.085477
|
| 167 |
+
v 0.135173 0.752299 -0.085477
|
| 168 |
+
v -0.130755 0.752299 -0.085477
|
| 169 |
+
v 0.135173 0.760786 -0.091990
|
| 170 |
+
v -0.130755 0.760786 -0.091990
|
| 171 |
+
v -0.130755 0.760786 -0.091990
|
| 172 |
+
v 0.135173 0.760786 -0.091990
|
| 173 |
+
v 0.135173 0.770670 -0.096084
|
| 174 |
+
v -0.130755 0.770670 -0.096084
|
| 175 |
+
v -0.130755 0.770670 -0.096084
|
| 176 |
+
v 0.135173 0.770670 -0.096084
|
| 177 |
+
v 0.135173 0.781277 -0.097480
|
| 178 |
+
v -0.130755 0.781277 -0.097480
|
| 179 |
+
v -0.130755 0.781277 -0.097480
|
| 180 |
+
v 0.135173 0.781277 -0.097480
|
| 181 |
+
v 0.135173 0.791883 -0.096084
|
| 182 |
+
v -0.130755 0.791883 -0.096084
|
| 183 |
+
v -0.130755 0.791883 -0.096084
|
| 184 |
+
v 0.135173 0.791883 -0.096084
|
| 185 |
+
v 0.135173 0.801767 -0.091990
|
| 186 |
+
v -0.130755 0.801767 -0.091990
|
| 187 |
+
v -0.130755 0.801767 -0.091990
|
| 188 |
+
v 0.135173 0.801767 -0.091990
|
| 189 |
+
v 0.135173 0.810254 -0.085477
|
| 190 |
+
v -0.130755 0.810254 -0.085477
|
| 191 |
+
v -0.130755 0.810254 -0.085477
|
| 192 |
+
v 0.135173 0.810254 -0.085477
|
| 193 |
+
v -0.130755 0.816767 -0.076990
|
| 194 |
+
v 0.135173 0.816767 -0.076990
|
| 195 |
+
v -0.130755 0.816767 -0.076990
|
| 196 |
+
v 0.135173 0.816767 -0.076990
|
| 197 |
+
vt -0.1321976 -0.01763051
|
| 198 |
+
vt -0.0078783 -0.01077874
|
| 199 |
+
vt -0.1321976 -0.01077874
|
| 200 |
+
vt -0.0078783 -0.01763051
|
| 201 |
+
vt -0.1321976 -0.02602217
|
| 202 |
+
vt -0.0078783 -0.01917041
|
| 203 |
+
vt -0.1321976 -0.01917041
|
| 204 |
+
vt -0.0078783 -0.02602217
|
| 205 |
+
vt 0.03303987 0.0008943353
|
| 206 |
+
vt 0.01945357 0.0008943353
|
| 207 |
+
vt 0.02624672 0
|
| 208 |
+
vt 0.03937008 0.003516394
|
| 209 |
+
vt 0.01312336 0.003516394
|
| 210 |
+
vt 0.04480595 0.007687486
|
| 211 |
+
vt 0.007687486 0.007687486
|
| 212 |
+
vt 0.04897704 0.01312336
|
| 213 |
+
vt 0.003516394 0.01312336
|
| 214 |
+
vt 0.0515991 0.01945357
|
| 215 |
+
vt 0.0008943353 0.01945357
|
| 216 |
+
vt 0.05249344 0.02624672
|
| 217 |
+
vt 0 0.02624672
|
| 218 |
+
vt 0.0515991 0.03303987
|
| 219 |
+
vt 0.0008943353 0.03303987
|
| 220 |
+
vt 0.003516394 0.03937008
|
| 221 |
+
vt 0.04897704 0.03937008
|
| 222 |
+
vt 0.04480595 0.04480595
|
| 223 |
+
vt 0.007687486 0.04480595
|
| 224 |
+
vt 0.03937008 0.04897704
|
| 225 |
+
vt 0.01312336 0.04897704
|
| 226 |
+
vt 0.03303987 0.0515991
|
| 227 |
+
vt 0.01945357 0.0515991
|
| 228 |
+
vt 0.02624672 0.05249344
|
| 229 |
+
vt -0.1321976 -0.008270816
|
| 230 |
+
vt -0.0078783 -0.001419048
|
| 231 |
+
vt -0.1321976 -0.001419048
|
| 232 |
+
vt -0.0078783 -0.008270816
|
| 233 |
+
vt -0.01945357 0.0008943353
|
| 234 |
+
vt -0.03303987 0.0008943353
|
| 235 |
+
vt -0.02624672 0
|
| 236 |
+
vt -0.01312336 0.003516394
|
| 237 |
+
vt -0.03937008 0.003516394
|
| 238 |
+
vt -0.007687486 0.007687486
|
| 239 |
+
vt -0.04480595 0.007687486
|
| 240 |
+
vt -0.003516394 0.01312336
|
| 241 |
+
vt -0.04897704 0.01312336
|
| 242 |
+
vt -0.0008943353 0.01945357
|
| 243 |
+
vt -0.0515991 0.01945357
|
| 244 |
+
vt -0.05249344 0.02624672
|
| 245 |
+
vt -0.0008943353 0.03303987
|
| 246 |
+
vt -0.0515991 0.03303987
|
| 247 |
+
vt -0.003516394 0.03937008
|
| 248 |
+
vt -0.04897704 0.03937008
|
| 249 |
+
vt -0.007687486 0.04480595
|
| 250 |
+
vt -0.04480595 0.04480595
|
| 251 |
+
vt -0.01312336 0.04897704
|
| 252 |
+
vt -0.03937008 0.04897704
|
| 253 |
+
vt -0.01945357 0.0515991
|
| 254 |
+
vt -0.03303987 0.0515991
|
| 255 |
+
vt -0.02624672 0.05249344
|
| 256 |
+
vt 0.1321976 0.03287394
|
| 257 |
+
vt 0.0078783 0.02602217
|
| 258 |
+
vt 0.1321976 0.02602217
|
| 259 |
+
vt 0.0078783 0.03287394
|
| 260 |
+
vt 0.0078783 -0.02602217
|
| 261 |
+
vt 0.1321976 -0.01917041
|
| 262 |
+
vt 0.0078783 -0.01917041
|
| 263 |
+
vt 0.1321976 -0.02602217
|
| 264 |
+
vt -0.0078783 0.03287394
|
| 265 |
+
vt -0.1321976 0.02602217
|
| 266 |
+
vt -0.0078783 0.02602217
|
| 267 |
+
vt -0.1321976 0.03287394
|
| 268 |
+
vt -0.0078783 0.03771888
|
| 269 |
+
vt -0.1321976 0.03086711
|
| 270 |
+
vt -0.0078783 0.03086711
|
| 271 |
+
vt -0.1321976 0.03771888
|
| 272 |
+
vt -0.0078783 0.0402268
|
| 273 |
+
vt -0.1321976 0.03337503
|
| 274 |
+
vt -0.0078783 0.03337503
|
| 275 |
+
vt -0.1321976 0.0402268
|
| 276 |
+
vt -0.0078783 0.01917041
|
| 277 |
+
vt -0.1321976 0.01917041
|
| 278 |
+
vt -0.1321976 0.01763051
|
| 279 |
+
vt -0.0078783 0.01077874
|
| 280 |
+
vt -0.0078783 0.01763051
|
| 281 |
+
vt -0.1321976 0.01077874
|
| 282 |
+
vt -0.1321976 0.008270816
|
| 283 |
+
vt -0.0078783 0.001419048
|
| 284 |
+
vt -0.0078783 0.008270816
|
| 285 |
+
vt -0.1321976 0.001419048
|
| 286 |
+
vt 0.1321976 0.03771888
|
| 287 |
+
vt 0.0078783 0.03086711
|
| 288 |
+
vt 0.1321976 0.03086711
|
| 289 |
+
vt 0.0078783 0.03771888
|
| 290 |
+
vt 0.1321976 0.0402268
|
| 291 |
+
vt 0.0078783 0.03337503
|
| 292 |
+
vt 0.1321976 0.03337503
|
| 293 |
+
vt 0.0078783 0.0402268
|
| 294 |
+
vt 0.1321976 0.01917041
|
| 295 |
+
vt 0.0078783 0.01917041
|
| 296 |
+
vt 0.1321976 0.01077874
|
| 297 |
+
vt 0.0078783 0.01763051
|
| 298 |
+
vt 0.0078783 0.01077874
|
| 299 |
+
vt 0.1321976 0.01763051
|
| 300 |
+
vt 0.1321976 0.001419048
|
| 301 |
+
vt 0.0078783 0.008270816
|
| 302 |
+
vt 0.0078783 0.001419048
|
| 303 |
+
vt 0.1321976 0.008270816
|
| 304 |
+
vt 0.0078783 -0.008270816
|
| 305 |
+
vt 0.1321976 -0.001419048
|
| 306 |
+
vt 0.0078783 -0.001419048
|
| 307 |
+
vt 0.1321976 -0.008270816
|
| 308 |
+
vt 0.0078783 -0.01763051
|
| 309 |
+
vt 0.1321976 -0.01077874
|
| 310 |
+
vt 0.0078783 -0.01077874
|
| 311 |
+
vt 0.1321976 -0.01763051
|
| 312 |
+
vn 0 -0.9659258358036645 0.25881900959356163
|
| 313 |
+
vn 0 -0.866025402838329 0.5000000016387101
|
| 314 |
+
vn 0 0.9659258358036645 -0.25881900959356163
|
| 315 |
+
vn 0 0.866025402838329 -0.5000000016387101
|
| 316 |
+
vn 0 -1 0
|
| 317 |
+
vn 0 1 0
|
| 318 |
+
vn 1 0 0
|
| 319 |
+
vn -1 0 0
|
| 320 |
+
vn 0 -0.7071067811865476 0.7071067811865476
|
| 321 |
+
vn 0 0.7071067811865476 -0.7071067811865476
|
| 322 |
+
vn 0 -0.9659258358036645 -0.25881900959356163
|
| 323 |
+
vn 0 0.9659258358036645 0.25881900959356163
|
| 324 |
+
vn 0 0.866025402838329 0.5000000016387101
|
| 325 |
+
vn 0 -0.866025402838329 -0.5000000016387101
|
| 326 |
+
vn 0 0.7071067811865476 0.7071067811865476
|
| 327 |
+
vn 0 -0.7071067811865476 -0.7071067811865476
|
| 328 |
+
vn 0 0.5000000016387101 0.866025402838329
|
| 329 |
+
vn 0 -0.5000000016387101 -0.866025402838329
|
| 330 |
+
vn 0 0.25881900959356163 0.9659258358036645
|
| 331 |
+
vn 0 -0.25881900959356163 -0.9659258358036645
|
| 332 |
+
vn 0 0 1
|
| 333 |
+
vn 0 0 -1
|
| 334 |
+
vn 0 -0.25881900959356163 0.9659258358036645
|
| 335 |
+
vn 0 0.25881900959356163 -0.9659258358036645
|
| 336 |
+
vn 0 -0.5000000016387101 0.866025402838329
|
| 337 |
+
vn 0 0.5000000016387101 -0.866025402838329
|
| 338 |
+
usemtl material_0_0
|
| 339 |
+
f 1/1/1 2/2/2 3/3/2
|
| 340 |
+
f 2/2/2 1/1/1 4/4/1
|
| 341 |
+
f 5/4/3 6/1/3 7/2/4
|
| 342 |
+
f 8/3/4 7/2/4 6/1/3
|
| 343 |
+
f 9/5/5 4/6/1 1/7/1
|
| 344 |
+
f 4/6/1 9/5/5 10/8/5
|
| 345 |
+
f 11/8/6 12/5/6 5/6/3
|
| 346 |
+
f 6/7/3 5/6/3 12/5/6
|
| 347 |
+
f 13/9/7 14/10/7 15/11/7
|
| 348 |
+
f 14/10/7 13/9/7 16/12/7
|
| 349 |
+
f 14/10/7 16/12/7 17/13/7
|
| 350 |
+
f 17/13/7 16/12/7 18/14/7
|
| 351 |
+
f 17/13/7 18/14/7 19/15/7
|
| 352 |
+
f 19/15/7 18/14/7 20/16/7
|
| 353 |
+
f 19/15/7 20/16/7 21/17/7
|
| 354 |
+
f 21/17/7 20/16/7 22/18/7
|
| 355 |
+
f 21/17/7 22/18/7 23/19/7
|
| 356 |
+
f 23/19/7 22/18/7 24/20/7
|
| 357 |
+
f 23/19/7 24/20/7 25/21/7
|
| 358 |
+
f 25/21/7 24/20/7 26/22/7
|
| 359 |
+
f 25/21/7 26/22/7 27/23/7
|
| 360 |
+
f 27/23/7 26/22/7 28/24/7
|
| 361 |
+
f 28/24/7 26/22/7 29/25/7
|
| 362 |
+
f 28/24/7 29/25/7 30/26/7
|
| 363 |
+
f 28/24/7 30/26/7 31/27/7
|
| 364 |
+
f 31/27/7 30/26/7 32/28/7
|
| 365 |
+
f 31/27/7 32/28/7 33/29/7
|
| 366 |
+
f 33/29/7 32/28/7 34/30/7
|
| 367 |
+
f 33/29/7 34/30/7 35/31/7
|
| 368 |
+
f 35/31/7 34/30/7 36/32/7
|
| 369 |
+
f 37/32/8 38/30/8 39/31/8
|
| 370 |
+
f 39/31/8 38/30/8 40/29/8
|
| 371 |
+
f 38/30/8 41/28/8 40/29/8
|
| 372 |
+
f 40/29/8 41/28/8 42/27/8
|
| 373 |
+
f 41/28/8 43/26/8 42/27/8
|
| 374 |
+
f 42/27/8 43/26/8 44/24/8
|
| 375 |
+
f 43/26/8 45/25/8 44/24/8
|
| 376 |
+
f 45/25/8 46/22/8 44/24/8
|
| 377 |
+
f 44/24/8 46/22/8 47/23/8
|
| 378 |
+
f 47/23/8 46/22/8 48/21/8
|
| 379 |
+
f 46/22/8 49/20/8 48/21/8
|
| 380 |
+
f 48/21/8 49/20/8 50/19/8
|
| 381 |
+
f 49/20/8 51/18/8 50/19/8
|
| 382 |
+
f 50/19/8 51/18/8 52/17/8
|
| 383 |
+
f 51/18/8 53/16/8 52/17/8
|
| 384 |
+
f 52/17/8 53/16/8 54/15/8
|
| 385 |
+
f 53/16/8 55/14/8 54/15/8
|
| 386 |
+
f 54/15/8 55/14/8 56/13/8
|
| 387 |
+
f 55/14/8 57/12/8 56/13/8
|
| 388 |
+
f 56/13/8 57/12/8 58/10/8
|
| 389 |
+
f 57/12/8 59/9/8 58/10/8
|
| 390 |
+
f 60/11/8 58/10/8 59/9/8
|
| 391 |
+
f 3/33/2 61/34/9 62/35/9
|
| 392 |
+
f 61/34/9 3/33/2 2/36/2
|
| 393 |
+
f 7/36/4 8/33/4 63/34/10
|
| 394 |
+
f 64/35/10 63/34/10 8/33/4
|
| 395 |
+
f 65/37/8 66/38/8 67/39/8
|
| 396 |
+
f 66/38/8 65/37/8 68/40/8
|
| 397 |
+
f 66/38/8 68/40/8 69/41/8
|
| 398 |
+
f 69/41/8 68/40/8 70/42/8
|
| 399 |
+
f 69/41/8 70/42/8 71/43/8
|
| 400 |
+
f 71/43/8 70/42/8 72/44/8
|
| 401 |
+
f 71/43/8 72/44/8 73/45/8
|
| 402 |
+
f 73/45/8 72/44/8 74/46/8
|
| 403 |
+
f 73/45/8 74/46/8 75/47/8
|
| 404 |
+
f 75/47/8 74/46/8 76/21/8
|
| 405 |
+
f 75/47/8 76/21/8 77/48/8
|
| 406 |
+
f 77/48/8 76/21/8 78/49/8
|
| 407 |
+
f 77/48/8 78/49/8 79/50/8
|
| 408 |
+
f 79/50/8 78/49/8 80/51/8
|
| 409 |
+
f 79/50/8 80/51/8 81/52/8
|
| 410 |
+
f 81/52/8 80/51/8 82/53/8
|
| 411 |
+
f 81/52/8 82/53/8 83/54/8
|
| 412 |
+
f 83/54/8 82/53/8 84/55/8
|
| 413 |
+
f 83/54/8 84/55/8 85/56/8
|
| 414 |
+
f 85/56/8 84/55/8 86/57/8
|
| 415 |
+
f 85/56/8 86/57/8 87/58/8
|
| 416 |
+
f 87/58/8 86/57/8 88/59/8
|
| 417 |
+
f 89/59/7 90/57/7 91/58/7
|
| 418 |
+
f 91/58/7 90/57/7 92/56/7
|
| 419 |
+
f 90/57/7 93/55/7 92/56/7
|
| 420 |
+
f 92/56/7 93/55/7 94/54/7
|
| 421 |
+
f 93/55/7 95/53/7 94/54/7
|
| 422 |
+
f 94/54/7 95/53/7 96/52/7
|
| 423 |
+
f 95/53/7 97/51/7 96/52/7
|
| 424 |
+
f 96/52/7 97/51/7 98/50/7
|
| 425 |
+
f 97/51/7 99/49/7 98/50/7
|
| 426 |
+
f 98/50/7 99/49/7 100/48/7
|
| 427 |
+
f 99/49/7 101/21/7 100/48/7
|
| 428 |
+
f 100/48/7 101/21/7 102/47/7
|
| 429 |
+
f 101/21/7 103/46/7 102/47/7
|
| 430 |
+
f 102/47/7 103/46/7 104/45/7
|
| 431 |
+
f 103/46/7 105/44/7 104/45/7
|
| 432 |
+
f 104/45/7 105/44/7 106/43/7
|
| 433 |
+
f 105/44/7 107/42/7 106/43/7
|
| 434 |
+
f 106/43/7 107/42/7 108/41/7
|
| 435 |
+
f 107/42/7 109/40/7 108/41/7
|
| 436 |
+
f 108/41/7 109/40/7 110/38/7
|
| 437 |
+
f 109/40/7 111/37/7 110/38/7
|
| 438 |
+
f 112/39/7 110/38/7 111/37/7
|
| 439 |
+
f 113/60/11 10/61/5 9/62/5
|
| 440 |
+
f 10/61/5 113/60/11 114/63/11
|
| 441 |
+
f 115/63/12 116/60/12 11/61/6
|
| 442 |
+
f 12/62/6 11/61/6 116/60/12
|
| 443 |
+
f 117/64/3 118/65/6 119/66/6
|
| 444 |
+
f 118/65/6 117/64/3 120/67/3
|
| 445 |
+
f 121/67/1 122/64/1 123/65/5
|
| 446 |
+
f 124/66/5 123/65/5 122/64/1
|
| 447 |
+
f 119/68/6 125/69/12 126/70/12
|
| 448 |
+
f 125/69/12 119/68/6 118/71/6
|
| 449 |
+
f 123/71/5 124/68/5 127/69/11
|
| 450 |
+
f 128/70/11 127/69/11 124/68/5
|
| 451 |
+
f 126/72/12 129/73/13 130/74/13
|
| 452 |
+
f 129/73/13 126/72/12 125/75/12
|
| 453 |
+
f 127/75/11 128/72/11 131/73/14
|
| 454 |
+
f 132/74/14 131/73/14 128/72/11
|
| 455 |
+
f 130/76/13 133/77/15 134/78/15
|
| 456 |
+
f 133/77/15 130/76/13 129/79/13
|
| 457 |
+
f 131/79/14 132/76/14 135/77/16
|
| 458 |
+
f 136/78/16 135/77/16 132/76/14
|
| 459 |
+
f 133/79/15 137/78/17 134/76/15
|
| 460 |
+
f 137/78/17 133/79/15 138/77/17
|
| 461 |
+
f 139/77/18 135/79/16 140/78/18
|
| 462 |
+
f 136/76/16 140/78/18 135/79/16
|
| 463 |
+
f 138/75/17 141/74/19 137/72/17
|
| 464 |
+
f 141/74/19 138/75/17 142/73/19
|
| 465 |
+
f 143/73/20 139/75/18 144/74/20
|
| 466 |
+
f 140/72/18 144/74/20 139/75/18
|
| 467 |
+
f 142/71/19 145/70/21 141/68/19
|
| 468 |
+
f 145/70/21 142/71/19 146/69/21
|
| 469 |
+
f 147/69/22 143/71/20 148/70/22
|
| 470 |
+
f 144/68/20 148/70/22 143/71/20
|
| 471 |
+
f 146/69/21 149/80/23 145/70/21
|
| 472 |
+
f 149/80/23 146/69/21 150/81/23
|
| 473 |
+
f 151/81/24 147/69/22 152/80/24
|
| 474 |
+
f 148/70/22 152/80/24 147/69/22
|
| 475 |
+
f 150/82/23 153/83/25 149/84/23
|
| 476 |
+
f 153/83/25 150/82/23 154/85/25
|
| 477 |
+
f 155/85/26 151/82/24 156/83/26
|
| 478 |
+
f 152/84/24 156/83/26 151/82/24
|
| 479 |
+
f 154/86/25 61/87/9 153/88/25
|
| 480 |
+
f 61/87/9 154/86/25 62/89/9
|
| 481 |
+
f 64/89/10 155/86/26 63/87/10
|
| 482 |
+
f 156/88/26 63/87/10 155/86/26
|
| 483 |
+
f 157/90/14 114/91/11 113/92/11
|
| 484 |
+
f 114/91/11 157/90/14 158/93/14
|
| 485 |
+
f 159/93/13 160/90/13 115/91/12
|
| 486 |
+
f 116/92/12 115/91/12 160/90/13
|
| 487 |
+
f 161/94/16 158/95/14 157/96/14
|
| 488 |
+
f 158/95/14 161/94/16 162/97/16
|
| 489 |
+
f 163/97/15 164/94/15 159/95/13
|
| 490 |
+
f 160/96/13 159/95/13 164/94/15
|
| 491 |
+
f 161/96/16 165/97/18 162/95/16
|
| 492 |
+
f 165/97/18 161/96/16 166/94/18
|
| 493 |
+
f 167/94/17 164/96/15 168/97/17
|
| 494 |
+
f 163/95/15 168/97/17 164/96/15
|
| 495 |
+
f 166/92/18 169/93/20 165/91/18
|
| 496 |
+
f 169/93/20 166/92/18 170/90/20
|
| 497 |
+
f 171/90/19 167/92/17 172/93/19
|
| 498 |
+
f 168/91/17 172/93/19 167/92/17
|
| 499 |
+
f 170/62/20 173/63/22 169/61/20
|
| 500 |
+
f 173/63/22 170/62/20 174/60/22
|
| 501 |
+
f 175/60/21 171/62/19 176/63/21
|
| 502 |
+
f 172/61/19 176/63/21 171/62/19
|
| 503 |
+
f 174/98/22 177/61/24 173/99/22
|
| 504 |
+
f 177/61/24 174/98/22 178/62/24
|
| 505 |
+
f 179/62/23 175/98/21 180/61/23
|
| 506 |
+
f 176/99/21 180/61/23 175/98/21
|
| 507 |
+
f 178/100/24 181/101/26 177/102/24
|
| 508 |
+
f 181/101/26 178/100/24 182/103/26
|
| 509 |
+
f 183/103/25 179/100/23 184/101/25
|
| 510 |
+
f 180/102/23 184/101/25 179/100/23
|
| 511 |
+
f 182/104/26 185/105/10 181/106/26
|
| 512 |
+
f 185/105/10 182/104/26 186/107/10
|
| 513 |
+
f 187/107/9 183/104/25 188/105/9
|
| 514 |
+
f 184/106/25 188/105/9 183/104/25
|
| 515 |
+
f 185/108/10 189/109/4 190/110/4
|
| 516 |
+
f 189/109/4 185/108/10 186/111/10
|
| 517 |
+
f 187/111/9 188/108/9 191/109/2
|
| 518 |
+
f 192/110/2 191/109/2 188/108/9
|
| 519 |
+
f 190/112/4 120/113/3 117/114/3
|
| 520 |
+
f 120/113/3 190/112/4 189/115/4
|
| 521 |
+
f 191/115/2 192/112/2 121/113/1
|
| 522 |
+
f 122/114/1 121/113/1 192/112/2
|
assets/urdf/Lighter/100295/textured_objs/original-19.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_4.jpg
|
| 8 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-20.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_4.jpg
|
| 8 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-20.obj
ADDED
|
@@ -0,0 +1,670 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 20
|
| 3 |
+
mtllib original-20.mtl
|
| 4 |
+
o group_12/ID167#ID167
|
| 5 |
+
v -0.058724 0.693650 -0.084450
|
| 6 |
+
v -0.058724 0.691567 -0.036947
|
| 7 |
+
v -0.058724 0.678896 -0.061300
|
| 8 |
+
v -0.058724 0.713515 0.005232
|
| 9 |
+
v -0.058724 0.690365 -0.009522
|
| 10 |
+
v -0.058724 0.694852 -0.111875
|
| 11 |
+
v -0.058724 0.719204 -0.124547
|
| 12 |
+
v -0.058724 0.725622 0.028500
|
| 13 |
+
v -0.058724 0.733958 -0.147697
|
| 14 |
+
v -0.058724 0.733610 0.029910
|
| 15 |
+
v -0.058724 0.753612 0.030787
|
| 16 |
+
v -0.058724 0.761384 -0.146495
|
| 17 |
+
v -0.058724 0.775732 0.044884
|
| 18 |
+
v -0.058724 0.785736 -0.159166
|
| 19 |
+
v -0.058724 0.783354 0.042111
|
| 20 |
+
v -0.058724 0.801115 0.032869
|
| 21 |
+
v -0.058724 0.808886 -0.144412
|
| 22 |
+
v -0.058724 0.828540 0.034071
|
| 23 |
+
v -0.058724 0.836312 -0.143210
|
| 24 |
+
v -0.058724 0.843294 0.010921
|
| 25 |
+
v -0.058724 0.848983 -0.118858
|
| 26 |
+
v -0.058724 0.867647 -0.001750
|
| 27 |
+
v -0.058724 0.870931 -0.076678
|
| 28 |
+
v -0.058724 0.872133 -0.104104
|
| 29 |
+
v -0.058724 0.868849 -0.029176
|
| 30 |
+
v -0.058724 0.883603 -0.052326
|
| 31 |
+
v -0.058724 0.870931 -0.076678
|
| 32 |
+
v -0.058724 0.868849 -0.029176
|
| 33 |
+
v -0.058724 0.883603 -0.052326
|
| 34 |
+
v -0.058724 0.867647 -0.001750
|
| 35 |
+
v -0.058724 0.872133 -0.104104
|
| 36 |
+
v -0.058724 0.848983 -0.118858
|
| 37 |
+
v -0.058724 0.843294 0.010921
|
| 38 |
+
v -0.058724 0.836312 -0.143210
|
| 39 |
+
v -0.058724 0.828540 0.034071
|
| 40 |
+
v -0.058724 0.808886 -0.144412
|
| 41 |
+
v -0.058724 0.801115 0.032869
|
| 42 |
+
v -0.058724 0.785736 -0.159166
|
| 43 |
+
v -0.058724 0.783354 0.042111
|
| 44 |
+
v -0.058724 0.775732 0.044884
|
| 45 |
+
v -0.058724 0.761384 -0.146495
|
| 46 |
+
v -0.058724 0.753612 0.030787
|
| 47 |
+
v -0.058724 0.733958 -0.147697
|
| 48 |
+
v -0.058724 0.733610 0.029910
|
| 49 |
+
v -0.058724 0.725622 0.028500
|
| 50 |
+
v -0.058724 0.719204 -0.124547
|
| 51 |
+
v -0.058724 0.713515 0.005232
|
| 52 |
+
v -0.058724 0.694852 -0.111875
|
| 53 |
+
v -0.058724 0.693650 -0.084450
|
| 54 |
+
v -0.058724 0.691567 -0.036947
|
| 55 |
+
v -0.058724 0.690365 -0.009522
|
| 56 |
+
v -0.058724 0.678896 -0.061300
|
| 57 |
+
v -0.086796 0.828540 0.034071
|
| 58 |
+
v -0.058724 0.801115 0.032869
|
| 59 |
+
v -0.058724 0.828540 0.034071
|
| 60 |
+
v -0.086796 0.801115 0.032869
|
| 61 |
+
v -0.086796 0.801115 0.032869
|
| 62 |
+
v -0.086796 0.828540 0.034071
|
| 63 |
+
v -0.058724 0.801115 0.032869
|
| 64 |
+
v -0.058724 0.828540 0.034071
|
| 65 |
+
v -0.086796 0.801115 0.032869
|
| 66 |
+
v -0.058724 0.783354 0.042111
|
| 67 |
+
v -0.058724 0.801115 0.032869
|
| 68 |
+
v -0.086796 0.783354 0.042111
|
| 69 |
+
v -0.086796 0.783354 0.042111
|
| 70 |
+
v -0.086796 0.801115 0.032869
|
| 71 |
+
v -0.058724 0.783354 0.042111
|
| 72 |
+
v -0.058724 0.801115 0.032869
|
| 73 |
+
v -0.086796 0.783354 0.042111
|
| 74 |
+
v -0.058724 0.775732 0.044884
|
| 75 |
+
v -0.058724 0.783354 0.042111
|
| 76 |
+
v -0.086796 0.775732 0.044884
|
| 77 |
+
v -0.086796 0.775732 0.044884
|
| 78 |
+
v -0.086796 0.783354 0.042111
|
| 79 |
+
v -0.058724 0.775732 0.044884
|
| 80 |
+
v -0.058724 0.783354 0.042111
|
| 81 |
+
v -0.086796 0.775732 0.044884
|
| 82 |
+
v -0.058724 0.753612 0.030787
|
| 83 |
+
v -0.058724 0.775732 0.044884
|
| 84 |
+
v -0.086796 0.753612 0.030787
|
| 85 |
+
v -0.086796 0.753612 0.030787
|
| 86 |
+
v -0.086796 0.775732 0.044884
|
| 87 |
+
v -0.058724 0.753612 0.030787
|
| 88 |
+
v -0.058724 0.775732 0.044884
|
| 89 |
+
v -0.086796 0.753612 0.030787
|
| 90 |
+
v -0.058724 0.733610 0.029910
|
| 91 |
+
v -0.058724 0.753612 0.030787
|
| 92 |
+
v -0.086796 0.733610 0.029910
|
| 93 |
+
v -0.086796 0.733610 0.029910
|
| 94 |
+
v -0.086796 0.753612 0.030787
|
| 95 |
+
v -0.058724 0.733610 0.029910
|
| 96 |
+
v -0.058724 0.753612 0.030787
|
| 97 |
+
v -0.086796 0.733610 0.029910
|
| 98 |
+
v -0.058724 0.725622 0.028500
|
| 99 |
+
v -0.058724 0.733610 0.029910
|
| 100 |
+
v -0.086796 0.725622 0.028500
|
| 101 |
+
v -0.086796 0.725622 0.028500
|
| 102 |
+
v -0.086796 0.733610 0.029910
|
| 103 |
+
v -0.058724 0.725622 0.028500
|
| 104 |
+
v -0.058724 0.733610 0.029910
|
| 105 |
+
v -0.086796 0.713515 0.005232
|
| 106 |
+
v -0.058724 0.725622 0.028500
|
| 107 |
+
v -0.086796 0.725622 0.028500
|
| 108 |
+
v -0.058724 0.713515 0.005232
|
| 109 |
+
v -0.058724 0.713515 0.005232
|
| 110 |
+
v -0.086796 0.713515 0.005232
|
| 111 |
+
v -0.058724 0.725622 0.028500
|
| 112 |
+
v -0.086796 0.725622 0.028500
|
| 113 |
+
v -0.086796 0.713515 0.005232
|
| 114 |
+
v -0.058724 0.690365 -0.009522
|
| 115 |
+
v -0.058724 0.713515 0.005232
|
| 116 |
+
v -0.086796 0.690365 -0.009522
|
| 117 |
+
v -0.086796 0.690365 -0.009522
|
| 118 |
+
v -0.086796 0.713515 0.005232
|
| 119 |
+
v -0.058724 0.690365 -0.009522
|
| 120 |
+
v -0.058724 0.713515 0.005232
|
| 121 |
+
v -0.086796 0.691567 -0.036947
|
| 122 |
+
v -0.058724 0.690365 -0.009522
|
| 123 |
+
v -0.086796 0.690365 -0.009522
|
| 124 |
+
v -0.058724 0.691567 -0.036947
|
| 125 |
+
v -0.058724 0.691567 -0.036947
|
| 126 |
+
v -0.086796 0.691567 -0.036947
|
| 127 |
+
v -0.058724 0.690365 -0.009522
|
| 128 |
+
v -0.086796 0.690365 -0.009522
|
| 129 |
+
v -0.086796 0.678896 -0.061300
|
| 130 |
+
v -0.058724 0.691567 -0.036947
|
| 131 |
+
v -0.086796 0.691567 -0.036947
|
| 132 |
+
v -0.058724 0.678896 -0.061300
|
| 133 |
+
v -0.058724 0.678896 -0.061300
|
| 134 |
+
v -0.086796 0.678896 -0.061300
|
| 135 |
+
v -0.058724 0.691567 -0.036947
|
| 136 |
+
v -0.086796 0.691567 -0.036947
|
| 137 |
+
v -0.086796 0.693650 -0.084450
|
| 138 |
+
v -0.058724 0.678896 -0.061300
|
| 139 |
+
v -0.086796 0.678896 -0.061300
|
| 140 |
+
v -0.058724 0.693650 -0.084450
|
| 141 |
+
v -0.058724 0.693650 -0.084450
|
| 142 |
+
v -0.086796 0.693650 -0.084450
|
| 143 |
+
v -0.058724 0.678896 -0.061300
|
| 144 |
+
v -0.086796 0.678896 -0.061300
|
| 145 |
+
v -0.086796 0.694852 -0.111875
|
| 146 |
+
v -0.058724 0.693650 -0.084450
|
| 147 |
+
v -0.086796 0.693650 -0.084450
|
| 148 |
+
v -0.058724 0.694852 -0.111875
|
| 149 |
+
v -0.058724 0.694852 -0.111875
|
| 150 |
+
v -0.086796 0.694852 -0.111875
|
| 151 |
+
v -0.058724 0.693650 -0.084450
|
| 152 |
+
v -0.086796 0.693650 -0.084450
|
| 153 |
+
v -0.086796 0.694852 -0.111875
|
| 154 |
+
v -0.058724 0.719204 -0.124547
|
| 155 |
+
v -0.058724 0.694852 -0.111875
|
| 156 |
+
v -0.086796 0.719204 -0.124547
|
| 157 |
+
v -0.086796 0.719204 -0.124547
|
| 158 |
+
v -0.086796 0.694852 -0.111875
|
| 159 |
+
v -0.058724 0.719204 -0.124547
|
| 160 |
+
v -0.058724 0.694852 -0.111875
|
| 161 |
+
v -0.086796 0.733958 -0.147697
|
| 162 |
+
v -0.058724 0.719204 -0.124547
|
| 163 |
+
v -0.086796 0.719204 -0.124547
|
| 164 |
+
v -0.058724 0.733958 -0.147697
|
| 165 |
+
v -0.058724 0.733958 -0.147697
|
| 166 |
+
v -0.086796 0.733958 -0.147697
|
| 167 |
+
v -0.058724 0.719204 -0.124547
|
| 168 |
+
v -0.086796 0.719204 -0.124547
|
| 169 |
+
v -0.086796 0.733958 -0.147697
|
| 170 |
+
v -0.058724 0.761384 -0.146495
|
| 171 |
+
v -0.058724 0.733958 -0.147697
|
| 172 |
+
v -0.086796 0.761384 -0.146495
|
| 173 |
+
v -0.086796 0.761384 -0.146495
|
| 174 |
+
v -0.086796 0.733958 -0.147697
|
| 175 |
+
v -0.058724 0.761384 -0.146495
|
| 176 |
+
v -0.058724 0.733958 -0.147697
|
| 177 |
+
v -0.086796 0.761384 -0.146495
|
| 178 |
+
v -0.058724 0.785736 -0.159166
|
| 179 |
+
v -0.058724 0.761384 -0.146495
|
| 180 |
+
v -0.086796 0.785736 -0.159166
|
| 181 |
+
v -0.086796 0.785736 -0.159166
|
| 182 |
+
v -0.086796 0.761384 -0.146495
|
| 183 |
+
v -0.058724 0.785736 -0.159166
|
| 184 |
+
v -0.058724 0.761384 -0.146495
|
| 185 |
+
v -0.086796 0.785736 -0.159166
|
| 186 |
+
v -0.058724 0.808886 -0.144412
|
| 187 |
+
v -0.058724 0.785736 -0.159166
|
| 188 |
+
v -0.086796 0.808886 -0.144412
|
| 189 |
+
v -0.086796 0.808886 -0.144412
|
| 190 |
+
v -0.086796 0.785736 -0.159166
|
| 191 |
+
v -0.058724 0.808886 -0.144412
|
| 192 |
+
v -0.058724 0.785736 -0.159166
|
| 193 |
+
v -0.086796 0.808886 -0.144412
|
| 194 |
+
v -0.058724 0.836312 -0.143210
|
| 195 |
+
v -0.058724 0.808886 -0.144412
|
| 196 |
+
v -0.086796 0.836312 -0.143210
|
| 197 |
+
v -0.086796 0.836312 -0.143210
|
| 198 |
+
v -0.086796 0.808886 -0.144412
|
| 199 |
+
v -0.058724 0.836312 -0.143210
|
| 200 |
+
v -0.058724 0.808886 -0.144412
|
| 201 |
+
v -0.058724 0.836312 -0.143210
|
| 202 |
+
v -0.086796 0.848983 -0.118858
|
| 203 |
+
v -0.058724 0.848983 -0.118858
|
| 204 |
+
v -0.086796 0.836312 -0.143210
|
| 205 |
+
v -0.086796 0.836312 -0.143210
|
| 206 |
+
v -0.058724 0.836312 -0.143210
|
| 207 |
+
v -0.086796 0.848983 -0.118858
|
| 208 |
+
v -0.058724 0.848983 -0.118858
|
| 209 |
+
v -0.086796 0.848983 -0.118858
|
| 210 |
+
v -0.058724 0.872133 -0.104104
|
| 211 |
+
v -0.058724 0.848983 -0.118858
|
| 212 |
+
v -0.086796 0.872133 -0.104104
|
| 213 |
+
v -0.086796 0.872133 -0.104104
|
| 214 |
+
v -0.086796 0.848983 -0.118858
|
| 215 |
+
v -0.058724 0.872133 -0.104104
|
| 216 |
+
v -0.058724 0.848983 -0.118858
|
| 217 |
+
v -0.058724 0.872133 -0.104104
|
| 218 |
+
v -0.086796 0.870931 -0.076678
|
| 219 |
+
v -0.058724 0.870931 -0.076678
|
| 220 |
+
v -0.086796 0.872133 -0.104104
|
| 221 |
+
v -0.086796 0.872133 -0.104104
|
| 222 |
+
v -0.058724 0.872133 -0.104104
|
| 223 |
+
v -0.086796 0.870931 -0.076678
|
| 224 |
+
v -0.058724 0.870931 -0.076678
|
| 225 |
+
v -0.058724 0.870931 -0.076678
|
| 226 |
+
v -0.086796 0.883603 -0.052326
|
| 227 |
+
v -0.058724 0.883603 -0.052326
|
| 228 |
+
v -0.086796 0.870931 -0.076678
|
| 229 |
+
v -0.086796 0.870931 -0.076678
|
| 230 |
+
v -0.058724 0.870931 -0.076678
|
| 231 |
+
v -0.086796 0.883603 -0.052326
|
| 232 |
+
v -0.058724 0.883603 -0.052326
|
| 233 |
+
v -0.058724 0.883603 -0.052326
|
| 234 |
+
v -0.086796 0.868849 -0.029176
|
| 235 |
+
v -0.058724 0.868849 -0.029176
|
| 236 |
+
v -0.086796 0.883603 -0.052326
|
| 237 |
+
v -0.086796 0.883603 -0.052326
|
| 238 |
+
v -0.058724 0.883603 -0.052326
|
| 239 |
+
v -0.086796 0.868849 -0.029176
|
| 240 |
+
v -0.058724 0.868849 -0.029176
|
| 241 |
+
v -0.058724 0.868849 -0.029176
|
| 242 |
+
v -0.086796 0.867647 -0.001750
|
| 243 |
+
v -0.058724 0.867647 -0.001750
|
| 244 |
+
v -0.086796 0.868849 -0.029176
|
| 245 |
+
v -0.086796 0.868849 -0.029176
|
| 246 |
+
v -0.058724 0.868849 -0.029176
|
| 247 |
+
v -0.086796 0.867647 -0.001750
|
| 248 |
+
v -0.058724 0.867647 -0.001750
|
| 249 |
+
v -0.086796 0.867647 -0.001750
|
| 250 |
+
v -0.058724 0.843294 0.010921
|
| 251 |
+
v -0.058724 0.867647 -0.001750
|
| 252 |
+
v -0.086796 0.843294 0.010921
|
| 253 |
+
v -0.086796 0.843294 0.010921
|
| 254 |
+
v -0.086796 0.867647 -0.001750
|
| 255 |
+
v -0.058724 0.843294 0.010921
|
| 256 |
+
v -0.058724 0.867647 -0.001750
|
| 257 |
+
v -0.058724 0.843294 0.010921
|
| 258 |
+
v -0.086796 0.828540 0.034071
|
| 259 |
+
v -0.058724 0.828540 0.034071
|
| 260 |
+
v -0.086796 0.843294 0.010921
|
| 261 |
+
v -0.086796 0.843294 0.010921
|
| 262 |
+
v -0.058724 0.843294 0.010921
|
| 263 |
+
v -0.086796 0.828540 0.034071
|
| 264 |
+
v -0.058724 0.828540 0.034071
|
| 265 |
+
v -0.086796 0.883603 -0.052326
|
| 266 |
+
v -0.086796 0.870931 -0.076678
|
| 267 |
+
v -0.086796 0.868849 -0.029176
|
| 268 |
+
v -0.086796 0.713515 0.005232
|
| 269 |
+
v -0.086796 0.691567 -0.036947
|
| 270 |
+
v -0.086796 0.690365 -0.009522
|
| 271 |
+
v -0.086796 0.693650 -0.084450
|
| 272 |
+
v -0.086796 0.694852 -0.111875
|
| 273 |
+
v -0.086796 0.719204 -0.124547
|
| 274 |
+
v -0.086796 0.725622 0.028500
|
| 275 |
+
v -0.086796 0.733958 -0.147697
|
| 276 |
+
v -0.086796 0.733610 0.029910
|
| 277 |
+
v -0.086796 0.753612 0.030787
|
| 278 |
+
v -0.086796 0.761384 -0.146495
|
| 279 |
+
v -0.086796 0.775732 0.044884
|
| 280 |
+
v -0.086796 0.785736 -0.159166
|
| 281 |
+
v -0.086796 0.783354 0.042111
|
| 282 |
+
v -0.086796 0.801115 0.032869
|
| 283 |
+
v -0.086796 0.808886 -0.144412
|
| 284 |
+
v -0.086796 0.828540 0.034071
|
| 285 |
+
v -0.086796 0.836312 -0.143210
|
| 286 |
+
v -0.086796 0.843294 0.010921
|
| 287 |
+
v -0.086796 0.848983 -0.118858
|
| 288 |
+
v -0.086796 0.867647 -0.001750
|
| 289 |
+
v -0.086796 0.872133 -0.104104
|
| 290 |
+
v -0.086796 0.678896 -0.061300
|
| 291 |
+
v -0.086796 0.691567 -0.036947
|
| 292 |
+
v -0.086796 0.678896 -0.061300
|
| 293 |
+
v -0.086796 0.693650 -0.084450
|
| 294 |
+
v -0.086796 0.868849 -0.029176
|
| 295 |
+
v -0.086796 0.867647 -0.001750
|
| 296 |
+
v -0.086796 0.870931 -0.076678
|
| 297 |
+
v -0.086796 0.872133 -0.104104
|
| 298 |
+
v -0.086796 0.848983 -0.118858
|
| 299 |
+
v -0.086796 0.843294 0.010921
|
| 300 |
+
v -0.086796 0.836312 -0.143210
|
| 301 |
+
v -0.086796 0.828540 0.034071
|
| 302 |
+
v -0.086796 0.808886 -0.144412
|
| 303 |
+
v -0.086796 0.801115 0.032869
|
| 304 |
+
v -0.086796 0.785736 -0.159166
|
| 305 |
+
v -0.086796 0.783354 0.042111
|
| 306 |
+
v -0.086796 0.775732 0.044884
|
| 307 |
+
v -0.086796 0.761384 -0.146495
|
| 308 |
+
v -0.086796 0.753612 0.030787
|
| 309 |
+
v -0.086796 0.733958 -0.147697
|
| 310 |
+
v -0.086796 0.733610 0.029910
|
| 311 |
+
v -0.086796 0.725622 0.028500
|
| 312 |
+
v -0.086796 0.719204 -0.124547
|
| 313 |
+
v -0.086796 0.713515 0.005232
|
| 314 |
+
v -0.086796 0.694852 -0.111875
|
| 315 |
+
v -0.086796 0.690365 -0.009522
|
| 316 |
+
v -0.086796 0.883603 -0.052326
|
| 317 |
+
vt 0.2761117 0.03149794
|
| 318 |
+
vt 0.1746996 0.02705239
|
| 319 |
+
vt 0.226689 0
|
| 320 |
+
vt 0.08465133 0.07390851
|
| 321 |
+
vt 0.1161493 0.02448576
|
| 322 |
+
vt 0.3346621 0.03406457
|
| 323 |
+
vt 0.3617145 0.08605396
|
| 324 |
+
vt 0.03497708 0.09975624
|
| 325 |
+
vt 0.4111372 0.1175519
|
| 326 |
+
vt 0.03196724 0.1168084
|
| 327 |
+
vt 0.0300953 0.1595112
|
| 328 |
+
vt 0.4085706 0.1761022
|
| 329 |
+
vt 0 0.2067332
|
| 330 |
+
vt 0.435623 0.2280916
|
| 331 |
+
vt 0.005919485 0.2230057
|
| 332 |
+
vt 0.02564976 0.2609234
|
| 333 |
+
vt 0.404125 0.2775144
|
| 334 |
+
vt 0.02308313 0.3194737
|
| 335 |
+
vt 0.4015584 0.3360647
|
| 336 |
+
vt 0.07250588 0.3509717
|
| 337 |
+
vt 0.349569 0.3631171
|
| 338 |
+
vt 0.09955828 0.402961
|
| 339 |
+
vt 0.2595208 0.4099732
|
| 340 |
+
vt 0.3180711 0.4125399
|
| 341 |
+
vt 0.1581086 0.4055277
|
| 342 |
+
vt 0.2075314 0.4370256
|
| 343 |
+
vt -0.04374453 0.3181563
|
| 344 |
+
vt 0 0.2595497
|
| 345 |
+
vt 0 0.3181563
|
| 346 |
+
vt -0.04374453 0.2595497
|
| 347 |
+
vt -0.04374453 0.2433027
|
| 348 |
+
vt 0 0.2005589
|
| 349 |
+
vt 0 0.2433027
|
| 350 |
+
vt -0.04374453 0.2005589
|
| 351 |
+
vt -0.04374453 0.2115937
|
| 352 |
+
vt 0 0.194278
|
| 353 |
+
vt 0 0.2115937
|
| 354 |
+
vt -0.04374453 0.194278
|
| 355 |
+
vt -0.04374453 0.1743375
|
| 356 |
+
vt 0 0.1183408
|
| 357 |
+
vt 0 0.1743375
|
| 358 |
+
vt -0.04374453 0.1183408
|
| 359 |
+
vt -0.04374453 0.1580402
|
| 360 |
+
vt 0 0.1152963
|
| 361 |
+
vt 0 0.1580402
|
| 362 |
+
vt -0.04374453 0.1152963
|
| 363 |
+
vt -0.04374453 0.1094737
|
| 364 |
+
vt 0 0.09215795
|
| 365 |
+
vt 0 0.1094737
|
| 366 |
+
vt -0.04374453 0.09215795
|
| 367 |
+
vt -0.04374453 -0.04097782
|
| 368 |
+
vt 0 0.01501894
|
| 369 |
+
vt -0.04374453 0.01501894
|
| 370 |
+
vt 0 -0.04097782
|
| 371 |
+
vt -0.04374453 0.01683123
|
| 372 |
+
vt 0 -0.04177533
|
| 373 |
+
vt 0 0.01683123
|
| 374 |
+
vt -0.04374453 -0.04177533
|
| 375 |
+
vt 0.04374453 0.1757167
|
| 376 |
+
vt 0 0.1171102
|
| 377 |
+
vt 0.04374453 0.1171102
|
| 378 |
+
vt 0 0.1757167
|
| 379 |
+
vt -0.04374453 -0.2010939
|
| 380 |
+
vt 0 -0.1424874
|
| 381 |
+
vt -0.04374453 -0.1424874
|
| 382 |
+
vt 0 -0.2010939
|
| 383 |
+
vt 0.04374453 0.2497728
|
| 384 |
+
vt 0 0.1911662
|
| 385 |
+
vt 0.04374453 0.1911662
|
| 386 |
+
vt 0 0.2497728
|
| 387 |
+
vt 0.04374453 0.3358328
|
| 388 |
+
vt 0 0.2772263
|
| 389 |
+
vt 0.04374453 0.2772263
|
| 390 |
+
vt 0 0.3358328
|
| 391 |
+
vt 0.04374453 0.1846962
|
| 392 |
+
vt 0 0.1846962
|
| 393 |
+
vt 0.04374453 0.2433027
|
| 394 |
+
vt 0.04374453 0.4098889
|
| 395 |
+
vt 0 0.3512823
|
| 396 |
+
vt 0.04374453 0.3512823
|
| 397 |
+
vt 0 0.4098889
|
| 398 |
+
vt 0.04374453 0.09943364
|
| 399 |
+
vt 0 0.09943364
|
| 400 |
+
vt 0.04374453 0.1580402
|
| 401 |
+
vt 0.04374453 0.3448123
|
| 402 |
+
vt 0 0.4034188
|
| 403 |
+
vt 0 0.3448123
|
| 404 |
+
vt 0.04374453 0.4034188
|
| 405 |
+
vt 0.04374453 -0.04177533
|
| 406 |
+
vt 0.04374453 0.01683123
|
| 407 |
+
vt 0.04374453 0.2595497
|
| 408 |
+
vt 0.04374453 0.3181563
|
| 409 |
+
vt 0.04374453 -0.1424874
|
| 410 |
+
vt 0.04374453 -0.2010939
|
| 411 |
+
vt 0.04374453 0.1183408
|
| 412 |
+
vt 0 0.1769473
|
| 413 |
+
vt 0.04374453 0.1769473
|
| 414 |
+
vt -0.04374453 0.2772263
|
| 415 |
+
vt -0.04374453 0.3358328
|
| 416 |
+
vt 0.04374453 0.01762874
|
| 417 |
+
vt 0 0.01762874
|
| 418 |
+
vt 0.04374453 -0.04097782
|
| 419 |
+
vt -0.04374453 0.3512823
|
| 420 |
+
vt -0.04374453 0.4098889
|
| 421 |
+
vt -0.04374453 0.1171102
|
| 422 |
+
vt -0.04374453 0.1757167
|
| 423 |
+
vt -0.04374453 0.4034188
|
| 424 |
+
vt -0.04374453 0.3448123
|
| 425 |
+
vt -0.04374453 0.1911662
|
| 426 |
+
vt -0.04374453 0.2497728
|
| 427 |
+
vt -0.2075314 0.4370256
|
| 428 |
+
vt -0.2595208 0.4099732
|
| 429 |
+
vt -0.1581086 0.4055277
|
| 430 |
+
vt -0.08465133 0.07390851
|
| 431 |
+
vt -0.1746996 0.02705239
|
| 432 |
+
vt -0.1161493 0.02448576
|
| 433 |
+
vt -0.2761117 0.03149794
|
| 434 |
+
vt -0.3346621 0.03406457
|
| 435 |
+
vt -0.3617145 0.08605396
|
| 436 |
+
vt -0.03497708 0.09975624
|
| 437 |
+
vt -0.4111372 0.1175519
|
| 438 |
+
vt -0.03196724 0.1168084
|
| 439 |
+
vt -0.0300953 0.1595112
|
| 440 |
+
vt -0.4085706 0.1761022
|
| 441 |
+
vt -0.435623 0.2280916
|
| 442 |
+
vt -0.005919485 0.2230057
|
| 443 |
+
vt -0.02564976 0.2609234
|
| 444 |
+
vt -0.404125 0.2775144
|
| 445 |
+
vt -0.02308313 0.3194737
|
| 446 |
+
vt -0.4015584 0.3360647
|
| 447 |
+
vt -0.07250588 0.3509717
|
| 448 |
+
vt -0.349569 0.3631171
|
| 449 |
+
vt -0.09955828 0.402961
|
| 450 |
+
vt -0.3180711 0.4125399
|
| 451 |
+
vt -0.226689 0
|
| 452 |
+
vn 1 0 0
|
| 453 |
+
vn -1 0 0
|
| 454 |
+
vn 0 -0.04379433858403281 0.9990405676988233
|
| 455 |
+
vn 0 0.04379433858403281 -0.9990405676988233
|
| 456 |
+
vn 0 0.4615932864259772 0.8870916739133932
|
| 457 |
+
vn 0 -0.4615932864259772 -0.8870916739133932
|
| 458 |
+
vn 0 0.34185559786210173 0.9397524941229711
|
| 459 |
+
vn 0 -0.34185559786210173 -0.9397524941229711
|
| 460 |
+
vn 0 -0.5374473170734708 0.8432973267896254
|
| 461 |
+
vn 0 0.5374473170734708 -0.8432973267896254
|
| 462 |
+
vn 0 -0.17382060594643342 0.9847773336894055
|
| 463 |
+
vn 0 0.17382060594643342 -0.9847773336894055
|
| 464 |
+
vn 0 -0.8870916739133932 0.4615932864259772
|
| 465 |
+
vn 0 0.8870916739133932 -0.4615932864259772
|
| 466 |
+
vn 0 -0.9990405676988233 -0.04379433858403281
|
| 467 |
+
vn 0 0.9990405676988233 0.04379433858403281
|
| 468 |
+
vn 0 -0.8432973267896254 -0.5374473170734708
|
| 469 |
+
vn 0 0.8432973267896254 0.5374473170734708
|
| 470 |
+
usemtl material_0_0
|
| 471 |
+
f 1/1/1 2/2/1 3/3/1
|
| 472 |
+
f 2/2/1 4/4/1 5/5/1
|
| 473 |
+
f 4/4/1 2/2/1 1/1/1
|
| 474 |
+
f 4/4/1 1/1/1 6/6/1
|
| 475 |
+
f 4/4/1 6/6/1 7/7/1
|
| 476 |
+
f 4/4/1 7/7/1 8/8/1
|
| 477 |
+
f 8/8/1 7/7/1 9/9/1
|
| 478 |
+
f 8/8/1 9/9/1 10/10/1
|
| 479 |
+
f 10/10/1 9/9/1 11/11/1
|
| 480 |
+
f 11/11/1 9/9/1 12/12/1
|
| 481 |
+
f 11/11/1 12/12/1 13/13/1
|
| 482 |
+
f 13/13/1 12/12/1 14/14/1
|
| 483 |
+
f 13/13/1 14/14/1 15/15/1
|
| 484 |
+
f 15/15/1 14/14/1 16/16/1
|
| 485 |
+
f 16/16/1 14/14/1 17/17/1
|
| 486 |
+
f 16/16/1 17/17/1 18/18/1
|
| 487 |
+
f 18/18/1 17/17/1 19/19/1
|
| 488 |
+
f 18/18/1 19/19/1 20/20/1
|
| 489 |
+
f 20/20/1 19/19/1 21/21/1
|
| 490 |
+
f 20/20/1 21/21/1 22/22/1
|
| 491 |
+
f 22/22/1 21/21/1 23/23/1
|
| 492 |
+
f 23/23/1 21/21/1 24/24/1
|
| 493 |
+
f 22/22/1 23/23/1 25/25/1
|
| 494 |
+
f 26/26/1 25/25/1 23/23/1
|
| 495 |
+
f 27/23/2 28/25/2 29/26/2
|
| 496 |
+
f 28/25/2 27/23/2 30/22/2
|
| 497 |
+
f 31/24/2 32/21/2 27/23/2
|
| 498 |
+
f 27/23/2 32/21/2 30/22/2
|
| 499 |
+
f 30/22/2 32/21/2 33/20/2
|
| 500 |
+
f 32/21/2 34/19/2 33/20/2
|
| 501 |
+
f 33/20/2 34/19/2 35/18/2
|
| 502 |
+
f 34/19/2 36/17/2 35/18/2
|
| 503 |
+
f 35/18/2 36/17/2 37/16/2
|
| 504 |
+
f 36/17/2 38/14/2 37/16/2
|
| 505 |
+
f 37/16/2 38/14/2 39/15/2
|
| 506 |
+
f 39/15/2 38/14/2 40/13/2
|
| 507 |
+
f 38/14/2 41/12/2 40/13/2
|
| 508 |
+
f 40/13/2 41/12/2 42/11/2
|
| 509 |
+
f 41/12/2 43/9/2 42/11/2
|
| 510 |
+
f 42/11/2 43/9/2 44/10/2
|
| 511 |
+
f 44/10/2 43/9/2 45/8/2
|
| 512 |
+
f 43/9/2 46/7/2 45/8/2
|
| 513 |
+
f 45/8/2 46/7/2 47/4/2
|
| 514 |
+
f 46/7/2 48/6/2 47/4/2
|
| 515 |
+
f 48/6/2 49/1/2 47/4/2
|
| 516 |
+
f 49/1/2 50/2/2 47/4/2
|
| 517 |
+
f 51/5/2 47/4/2 50/2/2
|
| 518 |
+
f 52/3/2 50/2/2 49/1/2
|
| 519 |
+
f 53/27/3 54/28/3 55/29/3
|
| 520 |
+
f 54/28/3 53/27/3 56/30/3
|
| 521 |
+
f 57/30/4 58/27/4 59/28/4
|
| 522 |
+
f 60/29/4 59/28/4 58/27/4
|
| 523 |
+
f 61/31/5 62/32/5 63/33/5
|
| 524 |
+
f 62/32/5 61/31/5 64/34/5
|
| 525 |
+
f 65/34/6 66/31/6 67/32/6
|
| 526 |
+
f 68/33/6 67/32/6 66/31/6
|
| 527 |
+
f 69/35/7 70/36/7 71/37/7
|
| 528 |
+
f 70/36/7 69/35/7 72/38/7
|
| 529 |
+
f 73/38/8 74/35/8 75/36/8
|
| 530 |
+
f 76/37/8 75/36/8 74/35/8
|
| 531 |
+
f 77/39/9 78/40/9 79/41/9
|
| 532 |
+
f 78/40/9 77/39/9 80/42/9
|
| 533 |
+
f 81/42/10 82/39/10 83/40/10
|
| 534 |
+
f 84/41/10 83/40/10 82/39/10
|
| 535 |
+
f 85/43/3 86/44/3 87/45/3
|
| 536 |
+
f 86/44/3 85/43/3 88/46/3
|
| 537 |
+
f 89/46/4 90/43/4 91/44/4
|
| 538 |
+
f 92/45/4 91/44/4 90/43/4
|
| 539 |
+
f 93/47/11 94/48/11 95/49/11
|
| 540 |
+
f 94/48/11 93/47/11 96/50/11
|
| 541 |
+
f 97/50/12 98/47/12 99/48/12
|
| 542 |
+
f 100/49/12 99/48/12 98/47/12
|
| 543 |
+
f 101/51/13 102/52/13 103/53/13
|
| 544 |
+
f 102/52/13 101/51/13 104/54/13
|
| 545 |
+
f 105/54/14 106/51/14 107/52/14
|
| 546 |
+
f 108/53/14 107/52/14 106/51/14
|
| 547 |
+
f 109/55/9 110/56/9 111/57/9
|
| 548 |
+
f 110/56/9 109/55/9 112/58/9
|
| 549 |
+
f 113/58/10 114/55/10 115/56/10
|
| 550 |
+
f 116/57/10 115/56/10 114/55/10
|
| 551 |
+
f 117/59/15 118/60/15 119/61/15
|
| 552 |
+
f 118/60/15 117/59/15 120/62/15
|
| 553 |
+
f 121/62/16 122/59/16 123/60/16
|
| 554 |
+
f 124/61/16 123/60/16 122/59/16
|
| 555 |
+
f 125/63/13 126/64/13 127/65/13
|
| 556 |
+
f 126/64/13 125/63/13 128/66/13
|
| 557 |
+
f 129/66/14 130/63/14 131/64/14
|
| 558 |
+
f 132/65/14 131/64/14 130/63/14
|
| 559 |
+
f 133/67/17 134/68/17 135/69/17
|
| 560 |
+
f 134/68/17 133/67/17 136/70/17
|
| 561 |
+
f 137/70/18 138/67/18 139/68/18
|
| 562 |
+
f 140/69/18 139/68/18 138/67/18
|
| 563 |
+
f 141/71/15 142/72/15 143/73/15
|
| 564 |
+
f 142/72/15 141/71/15 144/74/15
|
| 565 |
+
f 145/74/16 146/71/16 147/72/16
|
| 566 |
+
f 148/73/16 147/72/16 146/71/16
|
| 567 |
+
f 149/75/6 150/33/6 151/76/6
|
| 568 |
+
f 150/33/6 149/75/6 152/77/6
|
| 569 |
+
f 153/77/5 154/75/5 155/33/5
|
| 570 |
+
f 156/76/5 155/33/5 154/75/5
|
| 571 |
+
f 157/78/17 158/79/17 159/80/17
|
| 572 |
+
f 158/79/17 157/78/17 160/81/17
|
| 573 |
+
f 161/81/18 162/78/18 163/79/18
|
| 574 |
+
f 164/80/18 163/79/18 162/78/18
|
| 575 |
+
f 165/82/4 166/45/4 167/83/4
|
| 576 |
+
f 166/45/4 165/82/4 168/84/4
|
| 577 |
+
f 169/84/3 170/82/3 171/45/3
|
| 578 |
+
f 172/83/3 171/45/3 170/82/3
|
| 579 |
+
f 173/85/6 174/86/6 175/87/6
|
| 580 |
+
f 174/86/6 173/85/6 176/88/6
|
| 581 |
+
f 177/88/5 178/85/5 179/86/5
|
| 582 |
+
f 180/87/5 179/86/5 178/85/5
|
| 583 |
+
f 181/89/10 182/57/10 183/56/10
|
| 584 |
+
f 182/57/10 181/89/10 184/90/10
|
| 585 |
+
f 185/90/9 186/89/9 187/57/9
|
| 586 |
+
f 188/56/9 187/57/9 186/89/9
|
| 587 |
+
f 189/91/4 190/29/4 191/28/4
|
| 588 |
+
f 190/29/4 189/91/4 192/92/4
|
| 589 |
+
f 193/92/3 194/91/3 195/29/3
|
| 590 |
+
f 196/28/3 195/29/3 194/91/3
|
| 591 |
+
f 197/66/14 198/93/14 199/64/14
|
| 592 |
+
f 198/93/14 197/66/14 200/94/14
|
| 593 |
+
f 201/94/13 202/66/13 203/93/13
|
| 594 |
+
f 204/64/13 203/93/13 202/66/13
|
| 595 |
+
f 205/95/10 206/96/10 207/40/10
|
| 596 |
+
f 206/96/10 205/95/10 208/97/10
|
| 597 |
+
f 209/97/9 210/95/9 211/96/9
|
| 598 |
+
f 212/40/9 211/96/9 210/95/9
|
| 599 |
+
f 213/74/16 214/98/16 215/72/16
|
| 600 |
+
f 214/98/16 213/74/16 216/99/16
|
| 601 |
+
f 217/99/15 218/74/15 219/98/15
|
| 602 |
+
f 220/72/15 219/98/15 218/74/15
|
| 603 |
+
f 221/54/14 222/100/14 223/101/14
|
| 604 |
+
f 222/100/14 221/54/14 224/102/14
|
| 605 |
+
f 225/102/13 226/54/13 227/100/13
|
| 606 |
+
f 228/101/13 227/100/13 226/54/13
|
| 607 |
+
f 229/81/18 230/103/18 231/79/18
|
| 608 |
+
f 230/103/18 229/81/18 232/104/18
|
| 609 |
+
f 233/104/17 234/81/17 235/103/17
|
| 610 |
+
f 236/79/17 235/103/17 234/81/17
|
| 611 |
+
f 237/62/16 238/105/16 239/60/16
|
| 612 |
+
f 238/105/16 237/62/16 240/106/16
|
| 613 |
+
f 241/106/15 242/62/15 243/105/15
|
| 614 |
+
f 244/60/15 243/105/15 242/62/15
|
| 615 |
+
f 245/107/5 246/87/5 247/86/5
|
| 616 |
+
f 246/87/5 245/107/5 248/108/5
|
| 617 |
+
f 249/108/6 250/107/6 251/87/6
|
| 618 |
+
f 252/86/6 251/87/6 250/107/6
|
| 619 |
+
f 253/70/18 254/109/18 255/68/18
|
| 620 |
+
f 254/109/18 253/70/18 256/110/18
|
| 621 |
+
f 257/110/17 258/70/17 259/109/17
|
| 622 |
+
f 260/68/17 259/109/17 258/70/17
|
| 623 |
+
f 261/111/2 262/112/2 263/113/2
|
| 624 |
+
f 264/114/2 265/115/2 266/116/2
|
| 625 |
+
f 265/115/2 264/114/2 267/117/2
|
| 626 |
+
f 267/117/2 264/114/2 268/118/2
|
| 627 |
+
f 268/118/2 264/114/2 269/119/2
|
| 628 |
+
f 269/119/2 264/114/2 270/120/2
|
| 629 |
+
f 269/119/2 270/120/2 271/121/2
|
| 630 |
+
f 271/121/2 270/120/2 272/122/2
|
| 631 |
+
f 271/121/2 272/122/2 273/123/2
|
| 632 |
+
f 271/121/2 273/123/2 274/124/2
|
| 633 |
+
f 274/124/2 273/123/2 275/13/2
|
| 634 |
+
f 274/124/2 275/13/2 276/125/2
|
| 635 |
+
f 276/125/2 275/13/2 277/126/2
|
| 636 |
+
f 276/125/2 277/126/2 278/127/2
|
| 637 |
+
f 276/125/2 278/127/2 279/128/2
|
| 638 |
+
f 279/128/2 278/127/2 280/129/2
|
| 639 |
+
f 279/128/2 280/129/2 281/130/2
|
| 640 |
+
f 281/130/2 280/129/2 282/131/2
|
| 641 |
+
f 281/130/2 282/131/2 283/132/2
|
| 642 |
+
f 283/132/2 282/131/2 284/133/2
|
| 643 |
+
f 283/132/2 284/133/2 262/112/2
|
| 644 |
+
f 283/132/2 262/112/2 285/134/2
|
| 645 |
+
f 262/112/2 284/133/2 263/113/2
|
| 646 |
+
f 267/117/2 286/135/2 265/115/2
|
| 647 |
+
f 287/115/1 288/135/1 289/117/1
|
| 648 |
+
f 290/113/1 291/133/1 292/112/1
|
| 649 |
+
f 293/134/1 292/112/1 294/132/1
|
| 650 |
+
f 292/112/1 291/133/1 294/132/1
|
| 651 |
+
f 291/133/1 295/131/1 294/132/1
|
| 652 |
+
f 294/132/1 295/131/1 296/130/1
|
| 653 |
+
f 295/131/1 297/129/1 296/130/1
|
| 654 |
+
f 296/130/1 297/129/1 298/128/1
|
| 655 |
+
f 297/129/1 299/127/1 298/128/1
|
| 656 |
+
f 298/128/1 299/127/1 300/125/1
|
| 657 |
+
f 299/127/1 301/126/1 300/125/1
|
| 658 |
+
f 301/126/1 302/13/1 300/125/1
|
| 659 |
+
f 300/125/1 302/13/1 303/124/1
|
| 660 |
+
f 302/13/1 304/123/1 303/124/1
|
| 661 |
+
f 303/124/1 304/123/1 305/121/1
|
| 662 |
+
f 304/123/1 306/122/1 305/121/1
|
| 663 |
+
f 306/122/1 307/120/1 305/121/1
|
| 664 |
+
f 305/121/1 307/120/1 308/119/1
|
| 665 |
+
f 307/120/1 309/114/1 308/119/1
|
| 666 |
+
f 308/119/1 309/114/1 310/118/1
|
| 667 |
+
f 310/118/1 309/114/1 289/117/1
|
| 668 |
+
f 289/117/1 309/114/1 287/115/1
|
| 669 |
+
f 311/116/1 287/115/1 309/114/1
|
| 670 |
+
f 290/113/1 292/112/1 312/111/1
|
assets/urdf/Lighter/100295/textured_objs/original-21.mtl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_4.jpg
|
| 8 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-4.mtl
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_0.jpg
|
| 8 |
+
|
| 9 |
+
newmtl material_1_0
|
| 10 |
+
illum 3
|
| 11 |
+
d 1
|
| 12 |
+
Ns 30
|
| 13 |
+
Kd 1 0.9803921568627451 0.9803921568627451
|
| 14 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 15 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-5.mtl
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
map_Kd ../images/texture_0.jpg
|
| 8 |
+
|
| 9 |
+
newmtl material_1_0
|
| 10 |
+
illum 3
|
| 11 |
+
d 1
|
| 12 |
+
Ns 30
|
| 13 |
+
Kd 1 0.9803921568627451 0.9803921568627451
|
| 14 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 15 |
+
|
assets/urdf/Lighter/100295/textured_objs/original-5.obj
ADDED
|
@@ -0,0 +1,254 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 5
|
| 3 |
+
mtllib original-5.mtl
|
| 4 |
+
o #ID27
|
| 5 |
+
v 0.008540 0.567320 0.269676
|
| 6 |
+
v -0.004332 0.567320 0.269676
|
| 7 |
+
v 0.002104 0.567320 0.269974
|
| 8 |
+
v -0.010665 0.567320 0.268786
|
| 9 |
+
v 0.014873 0.567320 0.268786
|
| 10 |
+
v 0.021000 0.567320 0.267318
|
| 11 |
+
v -0.016793 0.567320 0.267318
|
| 12 |
+
v 0.026824 0.567320 0.265296
|
| 13 |
+
v -0.022617 0.567320 0.265296
|
| 14 |
+
v 0.032251 0.567320 0.262753
|
| 15 |
+
v -0.028043 0.567320 0.262753
|
| 16 |
+
v 0.037194 0.567320 0.259729
|
| 17 |
+
v -0.032986 0.567320 0.259729
|
| 18 |
+
v 0.070762 0.567378 0.220430
|
| 19 |
+
v -0.066554 0.567378 0.220430
|
| 20 |
+
v 0.098709 0.567440 0.178853
|
| 21 |
+
v -0.094502 0.567440 0.178853
|
| 22 |
+
v 0.120750 0.567504 0.135425
|
| 23 |
+
v -0.116542 0.567504 0.135425
|
| 24 |
+
v 0.136657 0.567570 0.090592
|
| 25 |
+
v -0.132449 0.567570 0.090592
|
| 26 |
+
v 0.146266 0.567638 0.044814
|
| 27 |
+
v -0.142059 0.567638 0.044814
|
| 28 |
+
v 0.149481 0.567706 -0.001438
|
| 29 |
+
v -0.145273 0.567706 -0.001438
|
| 30 |
+
v 0.146266 0.567775 -0.047691
|
| 31 |
+
v -0.142059 0.567775 -0.047691
|
| 32 |
+
v 0.136657 0.567842 -0.093469
|
| 33 |
+
v -0.132449 0.567842 -0.093469
|
| 34 |
+
v 0.123242 0.567902 -0.131278
|
| 35 |
+
v -0.119034 0.567902 -0.131278
|
| 36 |
+
v 0.120750 0.567909 -0.138301
|
| 37 |
+
v -0.116542 0.567909 -0.138301
|
| 38 |
+
v 0.098709 0.567973 -0.181730
|
| 39 |
+
v -0.094502 0.567973 -0.181730
|
| 40 |
+
v 0.070762 0.568034 -0.223306
|
| 41 |
+
v -0.066554 0.568034 -0.223306
|
| 42 |
+
v 0.037194 0.568093 -0.262606
|
| 43 |
+
v -0.032986 0.568093 -0.262606
|
| 44 |
+
v 0.032251 0.568093 -0.265630
|
| 45 |
+
v -0.028043 0.568093 -0.265630
|
| 46 |
+
v 0.026824 0.568093 -0.268173
|
| 47 |
+
v -0.022617 0.568093 -0.268173
|
| 48 |
+
v 0.021000 0.568093 -0.270195
|
| 49 |
+
v -0.016793 0.568093 -0.270195
|
| 50 |
+
v 0.014873 0.568093 -0.271662
|
| 51 |
+
v -0.010665 0.568093 -0.271662
|
| 52 |
+
v 0.008540 0.568093 -0.272553
|
| 53 |
+
v -0.004332 0.568093 -0.272553
|
| 54 |
+
v 0.002104 0.568093 -0.272851
|
| 55 |
+
v 0.002104 0.568093 -0.272851
|
| 56 |
+
v 0.008540 0.568093 -0.272553
|
| 57 |
+
v -0.004332 0.568093 -0.272553
|
| 58 |
+
v -0.010665 0.568093 -0.271662
|
| 59 |
+
v 0.014873 0.568093 -0.271662
|
| 60 |
+
v -0.016793 0.568093 -0.270195
|
| 61 |
+
v 0.021000 0.568093 -0.270195
|
| 62 |
+
v -0.022617 0.568093 -0.268173
|
| 63 |
+
v 0.026824 0.568093 -0.268173
|
| 64 |
+
v -0.028043 0.568093 -0.265630
|
| 65 |
+
v 0.032251 0.568093 -0.265630
|
| 66 |
+
v -0.032986 0.568093 -0.262606
|
| 67 |
+
v 0.037194 0.568093 -0.262606
|
| 68 |
+
v -0.066554 0.568034 -0.223306
|
| 69 |
+
v 0.070762 0.568034 -0.223306
|
| 70 |
+
v -0.094502 0.567973 -0.181730
|
| 71 |
+
v 0.098709 0.567973 -0.181730
|
| 72 |
+
v -0.116542 0.567909 -0.138301
|
| 73 |
+
v 0.120750 0.567909 -0.138301
|
| 74 |
+
v -0.119034 0.567902 -0.131278
|
| 75 |
+
v 0.123242 0.567902 -0.131278
|
| 76 |
+
v -0.132449 0.567842 -0.093469
|
| 77 |
+
v 0.136657 0.567842 -0.093469
|
| 78 |
+
v -0.142059 0.567775 -0.047691
|
| 79 |
+
v 0.146266 0.567775 -0.047691
|
| 80 |
+
v -0.145273 0.567706 -0.001438
|
| 81 |
+
v 0.149481 0.567706 -0.001438
|
| 82 |
+
v -0.142059 0.567638 0.044814
|
| 83 |
+
v 0.146266 0.567638 0.044814
|
| 84 |
+
v -0.132449 0.567570 0.090592
|
| 85 |
+
v 0.136657 0.567570 0.090592
|
| 86 |
+
v -0.116542 0.567504 0.135425
|
| 87 |
+
v 0.120750 0.567504 0.135425
|
| 88 |
+
v -0.094502 0.567440 0.178853
|
| 89 |
+
v 0.098709 0.567440 0.178853
|
| 90 |
+
v -0.066554 0.567378 0.220430
|
| 91 |
+
v 0.070762 0.567378 0.220430
|
| 92 |
+
v -0.032986 0.567320 0.259729
|
| 93 |
+
v 0.037194 0.567320 0.259729
|
| 94 |
+
v -0.028043 0.567320 0.262753
|
| 95 |
+
v 0.032251 0.567320 0.262753
|
| 96 |
+
v -0.022617 0.567320 0.265296
|
| 97 |
+
v 0.026824 0.567320 0.265296
|
| 98 |
+
v -0.016793 0.567320 0.267318
|
| 99 |
+
v 0.021000 0.567320 0.267318
|
| 100 |
+
v -0.010665 0.567320 0.268786
|
| 101 |
+
v 0.014873 0.567320 0.268786
|
| 102 |
+
v 0.008540 0.567320 0.269676
|
| 103 |
+
v -0.004332 0.567320 0.269676
|
| 104 |
+
v 0.002104 0.567320 0.269974
|
| 105 |
+
vt -0.21 0.3547919
|
| 106 |
+
vt -0.2008291 0.3545977
|
| 107 |
+
vt -0.2191709 0.3545977
|
| 108 |
+
vt -0.2281945 0.3540185
|
| 109 |
+
vt -0.1918055 0.3540185
|
| 110 |
+
vt -0.2369258 0.3530634
|
| 111 |
+
vt -0.1830742 0.3530634
|
| 112 |
+
vt -0.2452245 0.3517478
|
| 113 |
+
vt -0.1747755 0.3517478
|
| 114 |
+
vt -0.2529573 0.3500929
|
| 115 |
+
vt -0.1670427 0.3500929
|
| 116 |
+
vt -0.26 0.3481252
|
| 117 |
+
vt -0.16 0.3481252
|
| 118 |
+
vt -0.3078319 0.3225526
|
| 119 |
+
vt -0.1121681 0.3225526
|
| 120 |
+
vt -0.3476551 0.2954979
|
| 121 |
+
vt -0.0723449 0.2954979
|
| 122 |
+
vt -0.3790608 0.2672388
|
| 123 |
+
vt -0.04093917 0.2672388
|
| 124 |
+
vt -0.3826119 0.2626682
|
| 125 |
+
vt -0.0373881 0.2626682
|
| 126 |
+
vt -0.4017267 0.2380654
|
| 127 |
+
vt -0.01827334 0.2380654
|
| 128 |
+
vt -0.4154199 0.2082773
|
| 129 |
+
vt -0.004580089 0.2082773
|
| 130 |
+
vt -0.42 0.1781802
|
| 131 |
+
vt -2.752109e-17 0.1781802
|
| 132 |
+
vt -0.4154199 0.1480831
|
| 133 |
+
vt -0.004580089 0.1480831
|
| 134 |
+
vt -0.4017267 0.1182949
|
| 135 |
+
vt -0.01827334 0.1182949
|
| 136 |
+
vt -0.3790608 0.08912157
|
| 137 |
+
vt -0.04093917 0.08912157
|
| 138 |
+
vt -0.3476551 0.06086248
|
| 139 |
+
vt -0.0723449 0.06086248
|
| 140 |
+
vt -0.3078319 0.03380777
|
| 141 |
+
vt -0.1121681 0.03380777
|
| 142 |
+
vt -0.26 0.008235174
|
| 143 |
+
vt -0.16 0.008235174
|
| 144 |
+
vt -0.2529573 0.00626749
|
| 145 |
+
vt -0.1670427 0.00626749
|
| 146 |
+
vt -0.2452245 0.004612567
|
| 147 |
+
vt -0.1747755 0.004612567
|
| 148 |
+
vt -0.2369258 0.003296993
|
| 149 |
+
vt -0.1830742 0.003296993
|
| 150 |
+
vt -0.2281945 0.002341903
|
| 151 |
+
vt -0.1918055 0.002341903
|
| 152 |
+
vt -0.2008291 0.001762641
|
| 153 |
+
vt -0.2191709 0.001762641
|
| 154 |
+
vt -0.21 0.001568515
|
| 155 |
+
vn 0 0.9999989453594197 0.0014523360658771905
|
| 156 |
+
vn 0 -0.9999989453594197 -0.0014523360658771905
|
| 157 |
+
usemtl material_0_0
|
| 158 |
+
f 51/1/2 52/2/2 53/3/2
|
| 159 |
+
f 53/3/2 52/2/2 54/4/2
|
| 160 |
+
f 52/2/2 55/5/2 54/4/2
|
| 161 |
+
f 54/4/2 55/5/2 56/6/2
|
| 162 |
+
f 55/5/2 57/7/2 56/6/2
|
| 163 |
+
f 56/6/2 57/7/2 58/8/2
|
| 164 |
+
f 57/7/2 59/9/2 58/8/2
|
| 165 |
+
f 58/8/2 59/9/2 60/10/2
|
| 166 |
+
f 59/9/2 61/11/2 60/10/2
|
| 167 |
+
f 60/10/2 61/11/2 62/12/2
|
| 168 |
+
f 61/11/2 63/13/2 62/12/2
|
| 169 |
+
f 62/12/2 63/13/2 64/14/2
|
| 170 |
+
f 63/13/2 65/15/2 64/14/2
|
| 171 |
+
f 64/14/2 65/15/2 66/16/2
|
| 172 |
+
f 65/15/2 67/17/2 66/16/2
|
| 173 |
+
f 66/16/2 67/17/2 68/18/2
|
| 174 |
+
f 67/17/2 69/19/2 68/18/2
|
| 175 |
+
f 68/18/2 69/19/2 70/20/2
|
| 176 |
+
f 69/19/2 71/21/2 70/20/2
|
| 177 |
+
f 70/20/2 71/21/2 72/22/2
|
| 178 |
+
f 71/21/2 73/23/2 72/22/2
|
| 179 |
+
f 72/22/2 73/23/2 74/24/2
|
| 180 |
+
f 73/23/2 75/25/2 74/24/2
|
| 181 |
+
f 74/24/2 75/25/2 76/26/2
|
| 182 |
+
f 75/25/2 77/27/2 76/26/2
|
| 183 |
+
f 76/26/2 77/27/2 78/28/2
|
| 184 |
+
f 77/27/2 79/29/2 78/28/2
|
| 185 |
+
f 78/28/2 79/29/2 80/30/2
|
| 186 |
+
f 79/29/2 81/31/2 80/30/2
|
| 187 |
+
f 80/30/2 81/31/2 82/32/2
|
| 188 |
+
f 81/31/2 83/33/2 82/32/2
|
| 189 |
+
f 82/32/2 83/33/2 84/34/2
|
| 190 |
+
f 83/33/2 85/35/2 84/34/2
|
| 191 |
+
f 84/34/2 85/35/2 86/36/2
|
| 192 |
+
f 85/35/2 87/37/2 86/36/2
|
| 193 |
+
f 86/36/2 87/37/2 88/38/2
|
| 194 |
+
f 87/37/2 89/39/2 88/38/2
|
| 195 |
+
f 88/38/2 89/39/2 90/40/2
|
| 196 |
+
f 89/39/2 91/41/2 90/40/2
|
| 197 |
+
f 90/40/2 91/41/2 92/42/2
|
| 198 |
+
f 91/41/2 93/43/2 92/42/2
|
| 199 |
+
f 92/42/2 93/43/2 94/44/2
|
| 200 |
+
f 93/43/2 95/45/2 94/44/2
|
| 201 |
+
f 94/44/2 95/45/2 96/46/2
|
| 202 |
+
f 95/45/2 97/47/2 96/46/2
|
| 203 |
+
f 97/47/2 98/48/2 96/46/2
|
| 204 |
+
f 96/46/2 98/48/2 99/49/2
|
| 205 |
+
f 100/50/2 99/49/2 98/48/2
|
| 206 |
+
usemtl material_1_0
|
| 207 |
+
f 1//1 2//1 3//1
|
| 208 |
+
f 2//1 1//1 4//1
|
| 209 |
+
f 4//1 1//1 5//1
|
| 210 |
+
f 4//1 5//1 6//1
|
| 211 |
+
f 4//1 6//1 7//1
|
| 212 |
+
f 7//1 6//1 8//1
|
| 213 |
+
f 7//1 8//1 9//1
|
| 214 |
+
f 9//1 8//1 10//1
|
| 215 |
+
f 9//1 10//1 11//1
|
| 216 |
+
f 11//1 10//1 12//1
|
| 217 |
+
f 11//1 12//1 13//1
|
| 218 |
+
f 13//1 12//1 14//1
|
| 219 |
+
f 13//1 14//1 15//1
|
| 220 |
+
f 15//1 14//1 16//1
|
| 221 |
+
f 15//1 16//1 17//1
|
| 222 |
+
f 17//1 16//1 18//1
|
| 223 |
+
f 17//1 18//1 19//1
|
| 224 |
+
f 19//1 18//1 20//1
|
| 225 |
+
f 19//1 20//1 21//1
|
| 226 |
+
f 21//1 20//1 22//1
|
| 227 |
+
f 21//1 22//1 23//1
|
| 228 |
+
f 23//1 22//1 24//1
|
| 229 |
+
f 23//1 24//1 25//1
|
| 230 |
+
f 25//1 24//1 26//1
|
| 231 |
+
f 25//1 26//1 27//1
|
| 232 |
+
f 27//1 26//1 28//1
|
| 233 |
+
f 27//1 28//1 29//1
|
| 234 |
+
f 29//1 28//1 30//1
|
| 235 |
+
f 29//1 30//1 31//1
|
| 236 |
+
f 31//1 30//1 32//1
|
| 237 |
+
f 31//1 32//1 33//1
|
| 238 |
+
f 33//1 32//1 34//1
|
| 239 |
+
f 33//1 34//1 35//1
|
| 240 |
+
f 35//1 34//1 36//1
|
| 241 |
+
f 35//1 36//1 37//1
|
| 242 |
+
f 37//1 36//1 38//1
|
| 243 |
+
f 37//1 38//1 39//1
|
| 244 |
+
f 39//1 38//1 40//1
|
| 245 |
+
f 39//1 40//1 41//1
|
| 246 |
+
f 41//1 40//1 42//1
|
| 247 |
+
f 41//1 42//1 43//1
|
| 248 |
+
f 43//1 42//1 44//1
|
| 249 |
+
f 43//1 44//1 45//1
|
| 250 |
+
f 45//1 44//1 46//1
|
| 251 |
+
f 45//1 46//1 47//1
|
| 252 |
+
f 47//1 46//1 48//1
|
| 253 |
+
f 47//1 48//1 49//1
|
| 254 |
+
f 49//1 48//1 50//1
|
assets/urdf/Lighter/100295/textured_objs/original-7.mtl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 0.38823529411764707 0.2784313725490196
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
|