update our curobo
This commit is contained in:
2387
src/curobo/content/assets/robot/A2D_120s/A2D.urdf
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2387
src/curobo/content/assets/robot/A2D_120s/A2D.urdf
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1418
src/curobo/content/assets/robot/Raise_A2_RM_C_Surface/Raise_A2.urdf
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1418
src/curobo/content/assets/robot/Raise_A2_RM_C_Surface/Raise_A2.urdf
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2566
src/curobo/content/assets/robot/Raise_A2_Update/Raise_A2.urdf
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2566
src/curobo/content/assets/robot/Raise_A2_Update/Raise_A2.urdf
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2566
src/curobo/content/assets/robot/Raise_A2_Waist/Raise_A2.urdf
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2566
src/curobo/content/assets/robot/Raise_A2_Waist/Raise_A2.urdf
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@@ -0,0 +1,877 @@
|
||||
<?xml version="1.0" ?>
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||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
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||||
<link name="base_link"/>
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||||
<joint name="panda_fixed" type="fixed">
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||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
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||||
<parent link="base_link"/>
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||||
<child link="panda_link0"/>
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||||
<axis xyz="0 0 0"/>
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||||
</joint>
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||||
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||||
<link name="panda_link0">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="meshes/visual/link0.dae"/>
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||||
</geometry>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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||||
<mesh filename="meshes/collision/link0.obj"/>
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||||
</geometry>
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||||
</collision>
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||||
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||||
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||||
</link>
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||||
<link name="panda_link1">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="meshes/visual/link1.dae"/>
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||||
</geometry>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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||||
<mesh filename="meshes/collision/link1.obj"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
|
||||
<mass value="2.797"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
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||||
</inertial>
|
||||
</link>
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||||
<joint name="panda_joint1" type="revolute">
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||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
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||||
<parent link="panda_link0"/>
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||||
<child link="panda_link1"/>
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||||
<axis xyz="0 0 1"/>
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||||
<dynamics damping="10.0"/>
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||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="panda_link2">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="meshes/visual/link2.dae"/>
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||||
</geometry>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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||||
<mesh filename="meshes/collision/link2.obj"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
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||||
<mass value="2.542"/>
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||||
<inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
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||||
</inertial>
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||||
</link>
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<joint name="panda_joint2" type="revolute">
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||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
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||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
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||||
<parent link="panda_link1"/>
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||||
<child link="panda_link2"/>
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||||
<axis xyz="0 0 1"/>
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||||
<dynamics damping="10.0"/>
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||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
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||||
</joint>
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||||
<link name="panda_link3">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="meshes/visual/link3.dae"/>
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||||
</geometry>
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||||
</visual>
|
||||
<collision>
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||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
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||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
|
||||
<mass value="2.2513"/>
|
||||
<inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
|
||||
</inertial>
|
||||
</link>
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||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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||||
</joint>
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||||
<link name="panda_link4">
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="meshes/visual/link4.dae"/>
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||||
</geometry>
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||||
</visual>
|
||||
<collision>
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||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
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||||
</geometry>
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||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
|
||||
<mass value="2.2037"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
|
||||
</inertial>
|
||||
</link>
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||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
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||||
<dynamics damping="10.0"/>
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||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
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||||
</joint>
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||||
<link name="panda_link5">
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||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
|
||||
<mass value="2.2855"/>
|
||||
<inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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||||
</joint>
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||||
<link name="panda_link6">
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||||
<visual>
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||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
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||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
|
||||
<mass value="1.353"/>
|
||||
<inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
|
||||
<mass value="0.35973"/>
|
||||
<inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<joint name="panda_hand_joint" type="fixed">
|
||||
<parent link="panda_link8"/>
|
||||
<child link="right_base_link"/>
|
||||
|
||||
<origin rpy="0 0 0.785398163397" xyz="0 0 0.015"/>
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="right_base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.443105756928829" />
|
||||
<inertia
|
||||
ixx="0.00064200574020552"
|
||||
ixy="-1.51180224931458E-07"
|
||||
ixz="7.24174172220287E-09"
|
||||
iyy="0.00066998312004943"
|
||||
iyz="2.73584170951165E-09"
|
||||
izz="0.000278949393571484" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="right_Left_01_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0112899386472626" />
|
||||
<inertia
|
||||
ixx="1.96944973967669E-06"
|
||||
ixy="6.42395813223716E-07"
|
||||
ixz="-1.07950451056367E-14"
|
||||
iyy="1.39704780795747E-06"
|
||||
iyz="-1.48209813327181E-14"
|
||||
izz="2.47457179553145E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_01_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_01_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Left_1_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.032553 0 0.10644"
|
||||
rpy="1.5708 0 3.1416" />
|
||||
<parent
|
||||
link="right_base_link" />
|
||||
<child
|
||||
link="right_Left_01_Link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1"
|
||||
effort="2"
|
||||
velocity="1000" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link
|
||||
name="right_Left_00_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0112899386472626" />
|
||||
<inertia
|
||||
ixx="1.96944973967669E-06"
|
||||
ixy="6.42395813223716E-07"
|
||||
ixz="-1.07950451056367E-14"
|
||||
iyy="1.39704780795747E-06"
|
||||
iyz="-1.48209813327181E-14"
|
||||
izz="2.47457179553145E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_00_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_00_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="right_Left_0_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.01946 0.0129 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Left_01_Link" />
|
||||
<child
|
||||
link="right_Left_00_Link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="0"
|
||||
upper="1"
|
||||
effort="2"
|
||||
velocity="1000" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link
|
||||
name="right_Left_Support_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0140092102116716" />
|
||||
<inertia
|
||||
ixx="4.13674978137002E-06"
|
||||
ixy="9.81573398608352E-07"
|
||||
ixz="-2.87921970465553E-11"
|
||||
iyy="1.1362453186293E-06"
|
||||
iyz="2.94726072168702E-11"
|
||||
izz="4.10226218364235E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_Support_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_Support_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Left_Support_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.02888 0.04341 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Left_00_Link" />
|
||||
<child
|
||||
link="right_Left_Support_Link" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_Left_Pad_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00332411394949541" />
|
||||
<inertia
|
||||
ixx="5.5867126170785E-07"
|
||||
ixy="2.9966962370347E-20"
|
||||
ixz="1.44978830317617E-23"
|
||||
iyy="1.45407135182096E-07"
|
||||
iyz="-1.60867378777053E-21"
|
||||
izz="4.18250297449997E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Left_Pad_Joint"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.022056 0.044306 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Left_Support_Link" />
|
||||
<child
|
||||
link="right_Left_Pad_Link" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_Left_2_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00803955821311802" />
|
||||
<inertia
|
||||
ixx="1.15079028835042E-06"
|
||||
ixy="1.13853775681911E-07"
|
||||
ixz="-1.79492796413463E-10"
|
||||
iyy="4.68655200337902E-07"
|
||||
iyz="-4.49903912976825E-10"
|
||||
izz="8.47367915692972E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_2_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Left_2_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Left_2_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.017 0 0.122"
|
||||
rpy="1.5708 0 3.1416" />
|
||||
<parent
|
||||
link="right_base_link" />
|
||||
<child
|
||||
link="right_Left_2_Link" />
|
||||
<axis
|
||||
xyz="0 0 -1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_Right_2_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00803955821311803" />
|
||||
<inertia
|
||||
ixx="1.15079028835042E-06"
|
||||
ixy="1.13853775681912E-07"
|
||||
ixz="-1.79492796413511E-10"
|
||||
iyy="4.68655200337903E-07"
|
||||
iyz="-4.49903912976901E-10"
|
||||
izz="8.47367915692974E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_2_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_2_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Right_2_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.017 0 0.122"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="right_base_link" />
|
||||
<child
|
||||
link="right_Right_2_Link" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_Right_01_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0112899386472626" />
|
||||
<inertia
|
||||
ixx="1.96944973967663E-06"
|
||||
ixy="6.42395813223747E-07"
|
||||
ixz="-1.07950449101923E-14"
|
||||
iyy="1.39704780795753E-06"
|
||||
iyz="-1.48209815851649E-14"
|
||||
izz="2.47457179553146E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_01_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_01_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Right_1_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.032553 0 0.10644"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="right_base_link" />
|
||||
<child
|
||||
link="right_Right_01_Link" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="right_Right_00_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0112899386472626" />
|
||||
<inertia
|
||||
ixx="1.96944973967663E-06"
|
||||
ixy="6.42395813223747E-07"
|
||||
ixz="-1.07950449101923E-14"
|
||||
iyy="1.39704780795753E-06"
|
||||
iyz="-1.48209815851649E-14"
|
||||
izz="2.47457179553146E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_00_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_00_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint
|
||||
name="right_Right_0_Joint"
|
||||
type="revolute">
|
||||
|
||||
<origin
|
||||
xyz="0.01946 0.0129 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Right_01_Link" />
|
||||
<child
|
||||
link="right_Right_00_Link" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="right_Right_Support_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0140092102116716" />
|
||||
<inertia
|
||||
ixx="4.13674978136988E-06"
|
||||
ixy="9.81573398608576E-07"
|
||||
ixz="-2.87921970465403E-11"
|
||||
iyy="1.13624531862944E-06"
|
||||
iyz="2.94726072165632E-11"
|
||||
izz="4.10226218364236E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_Support_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_Support_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Right_Support_Joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.02888 0.04341 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Right_00_Link" />
|
||||
<child
|
||||
link="right_Right_Support_Link" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-1"
|
||||
upper="1"
|
||||
effort="10"
|
||||
velocity="10" />
|
||||
</joint>
|
||||
<link
|
||||
name="right_Right_Pad_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00332411394949542" />
|
||||
<inertia
|
||||
ixx="5.58671261707851E-07"
|
||||
ixy="3.06066210315894E-20"
|
||||
ixz="1.70379713307979E-23"
|
||||
iyy="1.45407135182096E-07"
|
||||
iyz="-1.65096420438087E-21"
|
||||
izz="4.18250297449998E-07" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="right_Right_Pad_Joint"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.022056 0.044306 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="right_Right_Support_Link" />
|
||||
<child
|
||||
link="right_Right_Pad_Link" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="gripper_center"/>
|
||||
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="right_base_link"/>
|
||||
<child link="gripper_center"/>
|
||||
<origin rpy="0 0.0 -1.57079632679" xyz="0.0 0. 0.23"/>
|
||||
</joint>
|
||||
<link name="right_gripper">
|
||||
<inertial>
|
||||
<!-- Dummy inertial parameters to avoid link lumping-->
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="right_gripper" type="fixed">
|
||||
<!--<origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>-->
|
||||
<origin rpy="0 0 2.35619449019" xyz="0 0 0.207"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="panda_link7"/>
|
||||
<!--<parent link="panda_link8"/>-->
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 13 KiB |
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,532 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<joint name="panda_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
|
||||
<mass value="2.797"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
|
||||
<mass value="2.542"/>
|
||||
<inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
|
||||
<mass value="2.2513"/>
|
||||
<inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
|
||||
<mass value="2.2037"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
|
||||
<mass value="2.2855"/>
|
||||
<inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
|
||||
<mass value="1.353"/>
|
||||
<inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
|
||||
<mass value="0.35973"/>
|
||||
<inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="flange_meshes/flange.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="flange_meshes/flange.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="zed_mini_camera">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="zed_mini_camera_meshes/zed_mini_camera.obj" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="zed_mini_camera_meshes/zed_mini_camera.obj" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="panda_zed_mini_camera_joint" type="fixed">
|
||||
<parent link="panda_link8"/>
|
||||
<child link="zed_mini_camera"/>
|
||||
<origin xyz="0 0 -0.01" rpy="-1.57079632679 -1.57079632679 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- flange 连接在 link8 上 -->
|
||||
<joint name="panda_flange_joint" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.003"/>
|
||||
<parent link="panda_link8"/>
|
||||
<child link="flange"/>
|
||||
</joint>
|
||||
|
||||
<!-- gripper 连接在 flange 上 -->
|
||||
<joint name="flange_robotiq_fix_joint" type="fixed">
|
||||
<origin rpy="1.57079632679 1.57079632679 0" xyz="0 -0.0035 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="robotiq_85_base_link"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="robotiq_85_base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/robotiq_base.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/robotiq_base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288"/>
|
||||
<mass value="6.6320197e-01"/>
|
||||
<inertia ixx="5.1617816e-04" ixy="2.936e-8" ixz="0.0" iyy="5.8802208e-04" iyz="-3.2296e-7" izz="3.9462776e-04"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="robotiq_85_left_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647"/>
|
||||
<mass value="1.384773208e-02"/>
|
||||
<inertia ixx="3.5232e-7" ixy="0.0" ixz="1.1744e-7" iyy="2.31944e-6" iyz="0" izz="2.23136e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647"/>
|
||||
<mass value="1.384773208e-02"/>
|
||||
<inertia ixx="3.5232e-7" ixy="0.0" ixz="-1.1744e-7" iyy="2.31944e-6" iyz="0.0" izz="2.23136e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121"/>
|
||||
<mass value="4.260376752e-02"/>
|
||||
<inertia ixx="1.385792000000000e-05" ixy="0.0" ixz="-2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121"/>
|
||||
<mass value="4.260376752000000e-02"/>
|
||||
<inertia ixx="1.385792e-05" ixy="0.0" ixz="2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_inner_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101"/>
|
||||
<mass value="2.969376448e-02"/>
|
||||
<inertia ixx="9.57136e-06" ixy="0.0" ixz="-3.93424e-06" iyy="8.69056e-06" iyz="0.0" izz="8.19144e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_inner_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178"/>
|
||||
<mass value="2.969376448e-02"/>
|
||||
<inertia ixx="9.42456e-06" ixy="0.0" ixz="3.9636e-06" iyy="8.69056e-06" iyz="0.0" izz="8.33824e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701"/>
|
||||
<mass value="4.268588744e-02"/>
|
||||
<inertia ixx="1.048152e-05" ixy="0.0" ixz="3.5232e-6" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701"/>
|
||||
<mass value="4.268588744e-02"/>
|
||||
<inertia ixx="1.048152e-05" ixy="0.0" ixz="-3.5232e-06" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="robotiq_85_left_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_left_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_right_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_finger_joint" type="fixed">
|
||||
<parent link="robotiq_85_left_knuckle_link"/>
|
||||
<child link="robotiq_85_left_finger_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_finger_joint" type="fixed">
|
||||
<parent link="robotiq_85_right_knuckle_link"/>
|
||||
<child link="robotiq_85_right_finger_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_inner_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_left_inner_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_inner_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_right_inner_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_finger_tip_joint" type="revolute">
|
||||
<parent link="robotiq_85_left_finger_link"/>
|
||||
<child link="robotiq_85_left_finger_tip_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_finger_tip_joint" type="revolute">
|
||||
<parent link="robotiq_85_right_finger_link"/>
|
||||
<child link="robotiq_85_right_finger_tip_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_center"/>
|
||||
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="gripper_center"/>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0.0 0. 0.1435"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,532 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<link name="base_link"/>
|
||||
<joint name="panda_fixed" type="fixed">
|
||||
<origin rpy="0 0 0.0" xyz="0 0 0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="panda_link0"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link0">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link0.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link0.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
|
||||
</link>
|
||||
<link name="panda_link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link1.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
|
||||
<mass value="2.797"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint1" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.333"/>
|
||||
<parent link="panda_link0"/>
|
||||
<child link="panda_link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link2.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
|
||||
<mass value="2.542"/>
|
||||
<inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint2" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link1"/>
|
||||
<child link="panda_link2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link3.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link3.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
|
||||
<mass value="2.2513"/>
|
||||
<inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint3" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
|
||||
<parent link="panda_link2"/>
|
||||
<child link="panda_link3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
|
||||
</joint>
|
||||
<link name="panda_link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link4.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link4.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
|
||||
<mass value="2.2037"/>
|
||||
<inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint4" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
|
||||
<parent link="panda_link3"/>
|
||||
<child link="panda_link4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
|
||||
<!-- something is weird with this joint limit config
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
|
||||
</joint>
|
||||
<link name="panda_link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link5.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link5.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
|
||||
<mass value="2.2855"/>
|
||||
<inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint5" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
|
||||
<parent link="panda_link4"/>
|
||||
<child link="panda_link5"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
<link name="panda_link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link6.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link6.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
|
||||
<mass value="1.353"/>
|
||||
<inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint6" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<parent link="panda_link5"/>
|
||||
<child link="panda_link6"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
|
||||
<!-- <dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
|
||||
</joint>
|
||||
<link name="panda_link7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/visual/link7.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/collision/link7.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
|
||||
<mass value="0.35973"/>
|
||||
<inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="panda_joint7" type="revolute">
|
||||
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
|
||||
<parent link="panda_link6"/>
|
||||
<child link="panda_link7"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<dynamics damping="10.0"/>
|
||||
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
|
||||
</joint>
|
||||
|
||||
<link name="panda_link8"/>
|
||||
<joint name="panda_joint8" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.107"/>
|
||||
<parent link="panda_link7"/>
|
||||
<child link="panda_link8"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="flange">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="flange_meshes/flange.obj"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="flange_meshes/flange.obj"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="zed_mini_camera">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="zed_mini_camera_meshes/zed_mini_camera.obj" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="zed_mini_camera_meshes/zed_mini_camera.obj" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="panda_zed_mini_camera_joint" type="fixed">
|
||||
<parent link="panda_link8"/>
|
||||
<child link="zed_mini_camera"/>
|
||||
<origin xyz="0 0 -0.01" rpy="-1.57079632679 -1.57079632679 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- flange 连接在 link8 上 -->
|
||||
<joint name="panda_flange_joint" type="fixed">
|
||||
<origin rpy="-1.57079632679 0 0" xyz="0 0 0.003"/>
|
||||
<parent link="panda_link8"/>
|
||||
<child link="flange"/>
|
||||
</joint>
|
||||
|
||||
<!-- gripper 连接在 flange 上 -->
|
||||
<joint name="flange_robotiq_fix_joint" type="fixed">
|
||||
<origin rpy="1.57079632679 1.57079632679 0" xyz="0 -0.0035 0"/>
|
||||
<parent link="flange"/>
|
||||
<child link="robotiq_85_base_link"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="robotiq_85_base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/robotiq_base.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/robotiq_base.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288"/>
|
||||
<mass value="6.6320197e-01"/>
|
||||
<inertia ixx="5.1617816e-04" ixy="2.936e-8" ixz="0.0" iyy="5.8802208e-04" iyz="-3.2296e-7" izz="3.9462776e-04"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="robotiq_85_left_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647"/>
|
||||
<mass value="1.384773208e-02"/>
|
||||
<inertia ixx="3.5232e-7" ixy="0.0" ixz="1.1744e-7" iyy="2.31944e-6" iyz="0" izz="2.23136e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647"/>
|
||||
<mass value="1.384773208e-02"/>
|
||||
<inertia ixx="3.5232e-7" ixy="0.0" ixz="-1.1744e-7" iyy="2.31944e-6" iyz="0.0" izz="2.23136e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121"/>
|
||||
<mass value="4.260376752e-02"/>
|
||||
<inertia ixx="1.385792000000000e-05" ixy="0.0" ixz="-2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_finger_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_finger.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121"/>
|
||||
<mass value="4.260376752000000e-02"/>
|
||||
<inertia ixx="1.385792e-05" ixy="0.0" ixz="2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_inner_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101"/>
|
||||
<mass value="2.969376448e-02"/>
|
||||
<inertia ixx="9.57136e-06" ixy="0.0" ixz="-3.93424e-06" iyy="8.69056e-06" iyz="0.0" izz="8.19144e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_inner_knuckle_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_inner_knuckle.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_inner_knuckle.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178"/>
|
||||
<mass value="2.969376448e-02"/>
|
||||
<inertia ixx="9.42456e-06" ixy="0.0" ixz="3.9636e-06" iyy="8.69056e-06" iyz="0.0" izz="8.33824e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_left_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/left_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/left_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701"/>
|
||||
<mass value="4.268588744e-02"/>
|
||||
<inertia ixx="1.048152e-05" ixy="0.0" ixz="3.5232e-6" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="robotiq_85_right_finger_tip_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/visual/2f_85/right_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="robotiq_2f85_meshes/collision/2f_85/right_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu1>100000.0</mu1>
|
||||
<mu2>100000.0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>1e+5</kp>
|
||||
<kd>1</kd>
|
||||
<soft_cfm>0</soft_cfm>
|
||||
<soft_erp>0.2</soft_erp>
|
||||
<minDepth>0.002</minDepth>
|
||||
<maxVel>0</maxVel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701"/>
|
||||
<mass value="4.268588744e-02"/>
|
||||
<inertia ixx="1.048152e-05" ixy="0.0" ixz="-3.5232e-06" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="robotiq_85_left_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_left_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_right_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_finger_joint" type="fixed">
|
||||
<parent link="robotiq_85_left_knuckle_link"/>
|
||||
<child link="robotiq_85_left_finger_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_finger_joint" type="fixed">
|
||||
<parent link="robotiq_85_right_knuckle_link"/>
|
||||
<child link="robotiq_85_right_finger_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_inner_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_left_inner_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_inner_knuckle_joint" type="revolute">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="robotiq_85_right_inner_knuckle_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_left_finger_tip_joint" type="revolute">
|
||||
<parent link="robotiq_85_left_finger_link"/>
|
||||
<child link="robotiq_85_left_finger_tip_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<joint name="robotiq_85_right_finger_tip_joint" type="revolute">
|
||||
<parent link="robotiq_85_right_finger_link"/>
|
||||
<child link="robotiq_85_right_finger_tip_link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
|
||||
<limit effort="50" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_center"/>
|
||||
|
||||
<joint name="ee_fixed_joint" type="fixed">
|
||||
<parent link="robotiq_85_base_link"/>
|
||||
<child link="gripper_center"/>
|
||||
<origin rpy="0 0 1.57079632679" xyz="0.0 0. 0.1535"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
@@ -0,0 +1,152 @@
|
||||
####
|
||||
#
|
||||
# OBJ File Generated by Meshlab
|
||||
#
|
||||
####
|
||||
# Object finger.obj
|
||||
#
|
||||
# Vertices: 52
|
||||
# Faces: 32
|
||||
#
|
||||
####
|
||||
vn 0.999991 0.003723 -0.001919
|
||||
v 0.010360 0.026403 0.000155
|
||||
vn 0.019341 -0.997893 -0.061925
|
||||
v 0.010449 0.002583 0.000147
|
||||
vn -0.999568 -0.025962 0.013789
|
||||
v -0.010387 0.002534 0.000132
|
||||
vn -0.999606 -0.009503 0.026403
|
||||
v -0.010479 0.016102 0.018988
|
||||
vn -0.000579 0.001464 -0.999999
|
||||
v -0.010401 0.026309 0.000167
|
||||
vn -0.044737 0.976483 0.210900
|
||||
v -0.010389 0.025220 0.019188
|
||||
vn -0.871286 -0.490748 0.005227
|
||||
v -0.008730 -0.000024 0.036165
|
||||
vn 0.999861 0.006488 0.015354
|
||||
v 0.010400 0.025253 0.019037
|
||||
vn 0.377718 0.867563 0.323518
|
||||
v 0.005840 0.014274 0.053803
|
||||
vn 0.736099 -0.021564 0.676530
|
||||
v 0.008616 0.013989 0.051328
|
||||
vn 0.999373 -0.008600 0.034345
|
||||
v 0.010495 0.015103 0.018436
|
||||
vn 0.013041 -0.999896 -0.006124
|
||||
v 0.008693 -0.000133 0.050166
|
||||
vn -0.998603 -0.032800 0.041418
|
||||
v -0.008623 -0.000057 0.050953
|
||||
vn -0.588468 -0.017705 0.808327
|
||||
v -0.005481 -0.000091 0.053725
|
||||
vn 0.004085 -0.008700 0.999954
|
||||
v -0.005278 0.014293 0.053849
|
||||
vn -0.691057 -0.012018 0.722700
|
||||
v -0.007778 0.014218 0.052366
|
||||
vn -0.665951 0.690851 0.281486
|
||||
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|
||||
vn 0.736099 -0.021564 0.676530
|
||||
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|
||||
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|
||||
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|
||||
vn 0.000073 0.000898 -1.000000
|
||||
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|
||||
vn 0.999898 -0.012431 0.007036
|
||||
v 0.010449 0.002583 0.000147
|
||||
vn 0.000724 0.000331 -1.000000
|
||||
v 0.010449 0.002583 0.000147
|
||||
vn -0.871286 -0.490748 0.005227
|
||||
v -0.010387 0.002534 0.000132
|
||||
vn 0.002403 -0.997480 -0.070914
|
||||
v -0.010387 0.002534 0.000132
|
||||
vn 0.000073 0.000898 -1.000000
|
||||
v -0.010387 0.002534 0.000132
|
||||
vn -0.004486 0.998354 0.057168
|
||||
v -0.010401 0.026309 0.000167
|
||||
vn -0.999988 0.004662 -0.001626
|
||||
v -0.010401 0.026309 0.000167
|
||||
vn -0.665951 0.690851 0.281486
|
||||
v -0.010389 0.025220 0.019188
|
||||
vn -0.999597 0.009346 0.026807
|
||||
v -0.010389 0.025220 0.019188
|
||||
vn 0.006493 -0.999457 -0.032313
|
||||
v -0.008730 -0.000024 0.036165
|
||||
vn 0.377718 0.867563 0.323518
|
||||
v 0.010400 0.025253 0.019037
|
||||
vn -0.000242 0.983230 0.182372
|
||||
v 0.010400 0.025253 0.019037
|
||||
vn 0.665647 0.002096 0.746264
|
||||
v 0.005840 0.014274 0.053803
|
||||
vn 0.008418 -0.012115 0.999891
|
||||
v 0.005840 0.014274 0.053803
|
||||
vn 0.001757 0.953702 0.300749
|
||||
v 0.005840 0.014274 0.053803
|
||||
vn 0.377718 0.867563 0.323518
|
||||
v 0.008616 0.013989 0.051328
|
||||
vn 0.998361 0.003310 0.057136
|
||||
v 0.008616 0.013989 0.051328
|
||||
vn 0.798906 -0.045001 0.599770
|
||||
v 0.008693 -0.000133 0.050166
|
||||
vn 0.998687 -0.025065 0.044683
|
||||
v 0.008693 -0.000133 0.050166
|
||||
vn -0.769031 -0.017753 0.638965
|
||||
v -0.008623 -0.000057 0.050953
|
||||
vn -0.008996 -0.999957 -0.002185
|
||||
v -0.008623 -0.000057 0.050953
|
||||
vn -0.871286 -0.490748 0.005227
|
||||
v -0.008623 -0.000057 0.050953
|
||||
vn 0.008418 -0.012115 0.999891
|
||||
v -0.005481 -0.000091 0.053725
|
||||
vn -0.002059 -0.999940 0.010793
|
||||
v -0.005481 -0.000091 0.053725
|
||||
vn -0.510143 -0.000217 0.860089
|
||||
v -0.005278 0.014293 0.053849
|
||||
vn -0.108731 0.943365 0.313433
|
||||
v -0.005278 0.014293 0.053849
|
||||
vn -0.665951 0.690851 0.281486
|
||||
v -0.007778 0.014218 0.052366
|
||||
vn -0.218924 0.920873 0.322590
|
||||
v -0.007778 0.014218 0.052366
|
||||
vn -0.858159 -0.000049 0.513385
|
||||
v -0.008841 0.013918 0.050589
|
||||
vn -0.998665 -0.002749 0.051583
|
||||
v -0.008841 0.013918 0.050589
|
||||
vn 0.006542 -0.999267 0.037718
|
||||
v 0.006138 -0.000021 0.053578
|
||||
vn 0.012751 -0.015529 0.999798
|
||||
v 0.006138 -0.000021 0.053578
|
||||
# 52 vertices, 0 vertices normals
|
||||
|
||||
f 20//20 22//22 25//25
|
||||
f 3//3 4//4 27//27
|
||||
f 27//27 4//4 29//29
|
||||
f 2//2 30//30 24//24
|
||||
f 32//32 6//6 35//35
|
||||
f 25//25 5//5 20//20
|
||||
f 37//37 11//11 8//8
|
||||
f 11//11 39//39 21//21
|
||||
f 37//37 39//39 11//11
|
||||
f 42//42 23//23 7//7
|
||||
f 2//2 12//12 30//30
|
||||
f 12//12 44//44 30//30
|
||||
f 8//8 11//11 21//21
|
||||
f 8//8 21//21 1//1
|
||||
f 32//32 19//19 6//6
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 29//29 113//113 3//3
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 110//110 11//11 15//15
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 37//37 38//38 150//150
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
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||||
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|
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|
||||
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|
||||
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f 26//26 192//192 142//142
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|
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# 200 faces, 0 coords texture
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# End of File
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Binary file not shown.
@@ -0,0 +1,622 @@
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####
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#
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||||
# OBJ File Generated by Meshlab
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||||
#
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####
|
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#
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# Faces: 200
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#
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####
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||||
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|
||||
|
||||
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|
||||
f 107//107 108//108 6//6
|
||||
f 109//109 6//6 8//8
|
||||
f 111//111 112//112 113//113
|
||||
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|
||||
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|
||||
f 114//114 6//6 14//14
|
||||
f 8//8 6//6 108//108
|
||||
f 107//107 6//6 114//114
|
||||
f 115//115 16//16 116//116
|
||||
f 117//117 118//118 13//13
|
||||
f 20//20 109//109 8//8
|
||||
f 120//120 6//6 109//109
|
||||
f 121//121 122//122 123//123
|
||||
f 125//125 127//127 129//129
|
||||
f 130//130 112//112 111//111
|
||||
f 106//106 29//29 3//3
|
||||
f 29//29 113//113 3//3
|
||||
f 132//132 16//16 115//115
|
||||
f 134//134 135//135 136//136
|
||||
f 34//34 138//138 36//36
|
||||
f 37//37 3//3 38//38
|
||||
f 6//6 39//39 40//40
|
||||
f 124//124 8//8 108//108
|
||||
f 140//140 42//42 16//16
|
||||
f 117//117 14//14 141//141
|
||||
f 121//121 123//123 143//143
|
||||
f 143//143 144//144 121//121
|
||||
f 145//145 121//121 144//144
|
||||
f 144//144 146//146 145//145
|
||||
f 20//20 8//8 148//148
|
||||
f 110//110 11//11 15//15
|
||||
f 36//36 10//10 149//149
|
||||
f 50//50 28//28 9//9
|
||||
f 10//10 36//36 138//138
|
||||
f 12//12 37//37 32//32
|
||||
f 37//37 12//12 3//3
|
||||
f 37//37 38//38 150//150
|
||||
f 37//37 151//151 32//32
|
||||
f 151//151 37//37 150//150
|
||||
f 112//112 35//35 53//53
|
||||
f 112//112 53//53 38//38
|
||||
f 112//112 38//38 3//3
|
||||
f 152//152 138//138 34//34
|
||||
f 55//55 56//56 153//153
|
||||
f 56//56 55//55 154//154
|
||||
f 153//153 152//152 34//34
|
||||
f 39//39 6//6 21//21
|
||||
f 158//158 117//117 141//141
|
||||
f 40//40 39//39 141//141
|
||||
f 14//14 40//40 141//141
|
||||
f 14//14 6//6 40//40
|
||||
f 160//160 124//124 108//108
|
||||
f 155//155 161//161 116//116
|
||||
f 42//42 159//159 5//5
|
||||
f 16//16 42//42 17//17
|
||||
f 62//62 22//22 46//46
|
||||
f 22//22 62//62 23//23
|
||||
f 103//103 145//145 164//164
|
||||
f 146//146 164//164 145//145
|
||||
f 124//124 64//64 8//8
|
||||
f 64//64 124//124 27//27
|
||||
f 64//64 148//148 8//8
|
||||
f 166//166 158//158 141//141
|
||||
f 167//167 36//36 149//149
|
||||
f 63//63 2//2 1//1
|
||||
f 136//136 135//135 168//168
|
||||
f 169//169 62//62 46//46
|
||||
f 32//32 170//170 12//12
|
||||
f 70//70 71//71 67//67
|
||||
f 53//53 137//137 54//54
|
||||
f 72//72 171//171 172//172
|
||||
f 173//173 174//174 175//175
|
||||
f 78//78 55//55 34//34
|
||||
f 55//55 176//176 154//154
|
||||
f 4//4 42//42 5//5
|
||||
f 50//50 115//115 116//116
|
||||
f 59//59 17//17 18//18
|
||||
f 109//109 20//20 77//77
|
||||
f 123//123 127//127 143//143
|
||||
f 129//129 127//127 123//123
|
||||
f 45//45 177//177 47//47
|
||||
f 140//140 16//16 178//178
|
||||
f 179//179 71//71 70//70
|
||||
f 62//62 180//180 23//23
|
||||
f 33//33 182//182 83//83
|
||||
f 149//149 28//28 61//61
|
||||
f 61//61 28//28 50//50
|
||||
f 161//161 50//50 116//116
|
||||
f 162//162 183//183 29//29
|
||||
f 85//85 132//132 115//115
|
||||
f 80//80 183//183 162//162
|
||||
f 183//183 80//80 131//131
|
||||
f 9//9 115//115 50//50
|
||||
f 183//183 15//15 11//11
|
||||
f 11//11 29//29 183//183
|
||||
f 180//180 62//62 169//169
|
||||
f 34//34 36//36 78//78
|
||||
f 70//70 67//67 184//184
|
||||
f 71//71 33//33 67//67
|
||||
f 154//154 76//76 72//72
|
||||
f 171//171 87//87 185//185
|
||||
f 72//72 172//172 56//56
|
||||
f 56//56 172//172 153//153
|
||||
f 34//34 55//55 153//153
|
||||
f 21//21 176//176 55//55
|
||||
f 119//119 7//7 79//79
|
||||
f 89//89 73//73 186//186
|
||||
f 39//39 21//21 55//55
|
||||
f 187//187 179//179 70//70
|
||||
f 84//84 23//23 180//180
|
||||
f 130//130 49//49 112//112
|
||||
f 188//188 177//177 93//93
|
||||
f 133//133 33//33 68//68
|
||||
f 68//68 33//33 83//83
|
||||
f 51//51 86//86 52//52
|
||||
f 69//69 135//135 134//134
|
||||
f 46//46 189//189 169//169
|
||||
f 189//189 31//31 169//169
|
||||
f 189//189 12//12 170//170
|
||||
f 76//76 75//75 72//72
|
||||
f 90//90 53//53 89//89
|
||||
f 86//86 51//51 88//88
|
||||
f 75//75 70//70 87//87
|
||||
f 87//87 70//70 185//185
|
||||
f 190//190 55//55 78//78
|
||||
f 39//39 55//55 95//95
|
||||
f 14//14 117//117 13//13
|
||||
f 42//42 140//140 159//159
|
||||
f 19//19 17//17 42//42
|
||||
f 118//118 4//4 13//13
|
||||
f 45//45 93//93 177//177
|
||||
f 188//188 93//93 81//81
|
||||
f 16//16 132//132 92//92
|
||||
f 92//92 178//178 16//16
|
||||
f 191//191 77//77 20//20
|
||||
f 66//66 157//157 65//65
|
||||
f 65//65 78//78 66//66
|
||||
f 156//156 167//167 61//61
|
||||
f 149//149 61//61 167//167
|
||||
f 106//106 162//162 29//29
|
||||
f 177//177 163//163 47//47
|
||||
f 177//177 188//188 30//30
|
||||
f 78//78 36//36 66//66
|
||||
f 189//189 170//170 31//31
|
||||
f 94//94 145//145 103//103
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||||
f 12//12 189//189 104//104
|
||||
f 70//70 184//184 185//185
|
||||
f 168//168 52//52 86//86
|
||||
f 52//52 168//168 135//135
|
||||
f 57//57 89//89 54//54
|
||||
f 53//53 90//90 38//38
|
||||
f 90//90 150//150 38//38
|
||||
f 75//75 87//87 72//72
|
||||
f 72//72 87//87 171//171
|
||||
f 56//56 154//154 72//72
|
||||
f 42//42 4//4 118//118
|
||||
f 19//19 18//18 17//17
|
||||
f 193//193 81//81 44//44
|
||||
f 81//81 93//93 44//44
|
||||
f 41//41 97//97 60//60
|
||||
f 26//26 192//192 142//142
|
||||
f 194//194 196//196 91//91
|
||||
f 199//199 33//33 71//71
|
||||
f 182//182 33//33 199//199
|
||||
f 96//96 173//173 175//175
|
||||
f 190//190 78//78 65//65
|
||||
f 73//73 89//89 74//74
|
||||
f 53//53 54//54 89//89
|
||||
f 73//73 88//88 51//51
|
||||
f 186//186 73//73 51//51
|
||||
f 139//139 81//81 193//193
|
||||
f 44//44 93//93 45//45
|
||||
f 25//25 97//97 126//126
|
||||
f 200//200 147//147 64//64
|
||||
f 64//64 27//27 200//200
|
||||
f 203//203 147//147 200//200
|
||||
f 96//96 194//194 91//91
|
||||
f 148//148 195//195 20//20
|
||||
f 195//195 98//98 20//20
|
||||
f 98//98 191//191 20//20
|
||||
f 96//96 91//91 173//173
|
||||
f 84//84 101//101 23//23
|
||||
f 128//128 24//24 101//101
|
||||
f 89//89 57//57 74//74
|
||||
f 175//175 174//174 79//79
|
||||
f 79//79 174//174 58//58
|
||||
f 79//79 7//7 175//175
|
||||
f 201//201 181//181 100//100
|
||||
f 91//91 196//196 82//82
|
||||
f 48//48 197//197 99//99
|
||||
f 197//197 48//48 102//102
|
||||
f 75//75 187//187 70//70
|
||||
f 84//84 202//202 101//101
|
||||
f 24//24 23//23 101//101
|
||||
f 43//43 95//95 165//165
|
||||
f 25//25 60//60 97//97
|
||||
f 179//179 199//199 71//71
|
||||
f 43//43 39//39 95//95
|
||||
f 198//198 82//82 196//196
|
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# 200 faces, 0 coords texture
|
||||
|
||||
# End of File
|
||||
@@ -0,0 +1,448 @@
|
||||
####
|
||||
#
|
||||
# OBJ File Generated by Meshlab
|
||||
#
|
||||
####
|
||||
# Object hand_gripper.obj
|
||||
#
|
||||
# Vertices: 109
|
||||
# Faces: 214
|
||||
#
|
||||
####
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# 109 vertices, 0 vertices normals
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
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|
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|
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f 10//10 17//17 12//12
|
||||
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|
||||
f 3//3 55//55 10//10
|
||||
f 22//22 55//55 3//3
|
||||
f 55//55 17//17 10//10
|
||||
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|
||||
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|
||||
f 32//32 33//33 5//5
|
||||
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|
||||
f 32//32 5//5 56//56
|
||||
f 30//30 31//31 56//56
|
||||
f 56//56 31//31 32//32
|
||||
f 13//13 24//24 73//73
|
||||
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|
||||
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|
||||
f 36//36 62//62 86//86
|
||||
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|
||||
f 62//62 106//106 107//107
|
||||
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|
||||
f 21//21 1//1 39//39
|
||||
f 21//21 39//39 40//40
|
||||
f 60//60 61//61 107//107
|
||||
f 62//62 107//107 61//61
|
||||
f 1//1 14//14 43//43
|
||||
f 15//15 14//14 1//1
|
||||
f 9//9 43//43 14//14
|
||||
f 13//13 9//9 14//14
|
||||
f 40//40 45//45 44//44
|
||||
f 15//15 21//21 49//49
|
||||
f 57//57 30//30 56//56
|
||||
f 30//30 57//57 65//65
|
||||
f 86//86 27//27 10//10
|
||||
f 10//10 27//27 3//3
|
||||
f 91//91 59//59 42//42
|
||||
f 91//91 90//90 59//59
|
||||
f 27//27 7//7 3//3
|
||||
f 28//28 29//29 2//2
|
||||
f 5//5 2//2 29//29
|
||||
f 7//7 2//2 5//5
|
||||
f 27//27 28//28 2//2
|
||||
f 27//27 2//2 7//7
|
||||
f 9//9 71//71 43//43
|
||||
f 24//24 34//34 73//73
|
||||
f 6//6 34//34 24//24
|
||||
f 33//33 34//34 6//6
|
||||
f 8//8 24//24 22//22
|
||||
f 8//8 6//6 24//24
|
||||
f 3//3 8//8 22//22
|
||||
f 7//7 8//8 3//3
|
||||
f 5//5 33//33 4//4
|
||||
f 6//6 4//4 33//33
|
||||
f 4//4 7//7 5//5
|
||||
f 8//8 4//4 6//6
|
||||
f 7//7 4//4 8//8
|
||||
f 73//73 72//72 13//13
|
||||
f 13//13 72//72 9//9
|
||||
f 72//72 71//71 9//9
|
||||
f 36//36 10//10 37//37
|
||||
f 97//97 37//37 10//10
|
||||
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|
||||
f 106//106 37//37 11//11
|
||||
f 62//62 37//37 106//106
|
||||
f 17//17 18//18 12//12
|
||||
f 12//12 96//96 97//97
|
||||
f 18//18 96//96 12//12
|
||||
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|
||||
f 13//13 16//16 23//23
|
||||
f 14//14 16//16 13//13
|
||||
f 14//14 15//15 16//16
|
||||
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|
||||
f 49//49 48//48 15//15
|
||||
f 16//16 48//48 23//23
|
||||
f 16//16 15//15 48//48
|
||||
f 20//20 17//17 26//26
|
||||
f 25//25 20//20 26//26
|
||||
f 17//17 20//20 18//18
|
||||
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|
||||
f 78//78 20//20 44//44
|
||||
f 44//44 19//19 40//40
|
||||
f 25//25 19//19 44//44
|
||||
f 44//44 20//20 25//25
|
||||
f 40//40 19//19 21//21
|
||||
f 49//49 21//21 19//19
|
||||
f 49//49 19//19 52//52
|
||||
f 52//52 19//19 25//25
|
||||
f 55//55 47//47 54//54
|
||||
f 47//47 55//55 22//22
|
||||
f 48//48 47//47 23//23
|
||||
f 24//24 23//23 47//47
|
||||
f 24//24 47//47 22//22
|
||||
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|
||||
f 25//25 51//51 52//52
|
||||
f 55//55 51//51 26//26
|
||||
f 27//27 86//86 85//85
|
||||
f 27//27 85//85 28//28
|
||||
f 85//85 83//83 29//29
|
||||
f 28//28 85//85 29//29
|
||||
f 61//61 80//80 62//62
|
||||
f 65//65 66//66 30//30
|
||||
f 66//66 31//31 30//30
|
||||
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|
||||
f 68//68 66//66 69//69
|
||||
f 32//32 68//68 33//33
|
||||
f 31//31 68//68 32//32
|
||||
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|
||||
f 34//34 70//70 73//73
|
||||
f 70//70 34//34 33//33
|
||||
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|
||||
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|
||||
f 37//37 35//35 36//36
|
||||
f 39//39 46//46 38//38
|
||||
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|
||||
f 45//45 38//38 46//46
|
||||
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|
||||
f 40//40 38//38 45//45
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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# End of File
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@@ -0,0 +1,568 @@
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####
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#
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# OBJ File Generated by Meshlab
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#
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####
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# 200 vertices, 0 vertices normals
|
||||
|
||||
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|
||||
f 1//1 4//4 2//2
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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||||
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|
||||
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||||
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|
||||
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|
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
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|
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||||
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|
||||
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||||
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||||
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|
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|
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|
||||
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|
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|
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||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
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||||
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||||
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|
||||
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|
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
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||||
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||||
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||||
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|
||||
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||||
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||||
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# 300 faces, 0 coords texture
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# End of File
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Binary file not shown.
@@ -0,0 +1,702 @@
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####
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||||
#
|
||||
# OBJ File Generated by Meshlab
|
||||
#
|
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####
|
||||
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#
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# Faces: 300
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#
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####
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Binary file not shown.
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||||
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||||
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|
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
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|
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# End of File
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Binary file not shown.
File diff suppressed because one or more lines are too long
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newmtl Part__Feature001_006
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File diff suppressed because it is too large
Load Diff
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####
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####
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# End of File
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Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,122 @@
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# Blender MTL File: 'None'
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newmtl Face636_001
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||||
illum 2
|
||||
|
||||
newmtl Part__Feature023_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell001_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell003_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell009_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell010_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
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|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
newmtl material_1
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 0.247059 0.247059 0.247059
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
newmtl material_2
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Part__Feature_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.062500 0.062500 0.062500
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,13 @@
|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,12 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl Part__Feature024
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.125000 0.125000 0.125000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,13 @@
|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,42 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 4
|
||||
|
||||
newmtl Part__Feature001_010_001_002.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature002_007_001_002.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature003_004_001_002.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature_001_001_001_002.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,21 @@
|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
newmtl material_1
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 0.247059 0.247059 0.247059
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,42 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 4
|
||||
|
||||
newmtl Part__Feature001_001_003_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature002_001_003_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature003_001_003_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature_002_003_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.007812 0.007812 0.007812
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,21 @@
|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
newmtl material_1
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 0.247059 0.247059 0.247059
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,32 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 3
|
||||
|
||||
newmtl Part__Feature_002_004_003
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.015625 0.015625 0.015625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell001_001_001_003
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250000 0.250000 0.250000
|
||||
Ks 0.015625 0.015625 0.015625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell_001_001_003
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.015625 0.015625 0.015625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,21 @@
|
||||
#
|
||||
# Wavefront material file
|
||||
# Converted by Meshlab Group
|
||||
#
|
||||
|
||||
newmtl material_0
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 0.247059 0.247059 0.247059
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
newmtl material_1
|
||||
Ka 0.200000 0.200000 0.200000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 1.000000 1.000000 1.000000
|
||||
Tr 1.000000
|
||||
illum 2
|
||||
Ns 0.000000
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,172 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 17
|
||||
|
||||
newmtl Face064_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 0.000000 0.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Face065_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.000000 1.000000 0.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Face374_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Face539_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature001_009_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Part__Feature002_006_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell002_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell003_002_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell004_001_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell005_001_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell006_003_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 0.015625 0.015625 0.015625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell007_002_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250000 0.250000 0.250000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell011_002_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell012_002_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell_003_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Union001_001_001_002_001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039216 0.541176 0.780392
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
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File diff suppressed because it is too large
Load Diff
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illum 2
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newmtl material_1
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newmtl material_2
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||||
vn 0.256778 -0.593509 -1.376199
|
||||
v 0.087975 -0.000627 -0.024962
|
||||
# 102 vertices, 0 vertices normals
|
||||
|
||||
f 1//1 10//10 2//2
|
||||
f 5//5 32//32 3//3
|
||||
f 60//60 3//3 13//13
|
||||
f 16//16 22//22 4//4
|
||||
f 22//22 2//2 4//4
|
||||
f 63//63 1//1 2//2
|
||||
f 6//6 3//3 15//15
|
||||
f 13//13 3//3 32//32
|
||||
f 5//5 3//3 6//6
|
||||
f 49//49 14//14 80//80
|
||||
f 79//79 70//70 6//6
|
||||
f 89//89 60//60 13//13
|
||||
f 59//59 3//3 60//60
|
||||
f 7//7 8//8 92//92
|
||||
f 12//12 86//86 91//91
|
||||
f 9//9 22//22 16//16
|
||||
f 10//10 50//50 2//2
|
||||
f 50//50 4//4 2//2
|
||||
f 48//48 14//14 49//49
|
||||
f 75//75 40//40 39//39
|
||||
f 23//23 18//18 17//17
|
||||
f 21//21 2//2 19//19
|
||||
f 3//3 11//11 28//28
|
||||
f 12//12 13//13 32//32
|
||||
f 83//83 69//69 14//14
|
||||
f 79//79 15//15 37//37
|
||||
f 7//7 92//92 81//81
|
||||
f 81//81 84//84 7//7
|
||||
f 35//35 7//7 84//84
|
||||
f 84//84 74//74 35//35
|
||||
f 89//89 13//13 98//98
|
||||
f 16//16 4//4 49//49
|
||||
f 17//17 22//22 38//38
|
||||
f 43//43 9//9 16//16
|
||||
f 22//22 17//17 18//18
|
||||
f 63//63 21//21 40//40
|
||||
f 21//21 63//63 2//2
|
||||
f 21//21 19//19 20//20
|
||||
f 21//21 77//77 40//40
|
||||
f 77//77 21//21 20//20
|
||||
f 22//22 18//18 65//65
|
||||
f 22//22 65//65 19//19
|
||||
f 22//22 19//19 2//2
|
||||
f 27//27 18//18 23//23
|
||||
f 25//25 24//24 26//26
|
||||
f 24//24 25//25 54//54
|
||||
f 26//26 27//27 23//23
|
||||
f 11//11 3//3 59//59
|
||||
f 29//29 79//79 37//37
|
||||
f 28//28 11//11 37//37
|
||||
f 15//15 28//28 37//37
|
||||
f 15//15 3//3 28//28
|
||||
f 31//31 12//12 32//32
|
||||
f 29//29 30//30 80//80
|
||||
f 69//69 31//31 32//32
|
||||
f 14//14 69//69 80//80
|
||||
f 33//33 7//7 35//35
|
||||
f 7//7 33//33 8//8
|
||||
f 1//1 35//35 34//34
|
||||
f 74//74 34//34 35//35
|
||||
f 12//12 36//36 13//13
|
||||
f 36//36 12//12 91//91
|
||||
f 36//36 98//98 13//13
|
||||
f 102//102 29//29 37//37
|
||||
f 72//72 17//17 38//38
|
||||
f 34//34 10//10 1//1
|
||||
f 39//39 40//40 76//76
|
||||
f 41//41 33//33 35//35
|
||||
f 40//40 64//64 63//63
|
||||
f 52//52 46//46 76//76
|
||||
f 65//65 18//18 27//27
|
||||
f 57//57 56//56 58//58
|
||||
f 100//100 55//55 44//44
|
||||
f 42//42 25//25 23//23
|
||||
f 25//25 94//94 54//54
|
||||
f 5//5 69//69 32//32
|
||||
f 43//43 49//49 80//80
|
||||
f 29//29 80//80 79//79
|
||||
f 60//60 89//89 44//44
|
||||
f 92//92 86//86 81//81
|
||||
f 91//91 86//86 92//92
|
||||
f 84//84 73//73 74//74
|
||||
f 83//83 14//14 45//45
|
||||
f 96//96 46//46 52//52
|
||||
f 33//33 51//51 8//8
|
||||
f 39//39 82//82 51//51
|
||||
f 38//38 9//9 30//30
|
||||
f 30//30 9//9 43//43
|
||||
f 30//30 43//43 80//80
|
||||
f 34//34 47//47 50//50
|
||||
f 47//47 48//48 49//49
|
||||
f 73//73 47//47 34//34
|
||||
f 47//47 73//73 48//48
|
||||
f 16//16 49//49 43//43
|
||||
f 47//47 49//49 4//4
|
||||
f 4//4 50//50 47//47
|
||||
f 51//51 33//33 41//41
|
||||
f 23//23 17//17 42//42
|
||||
f 52//52 76//76 53//53
|
||||
f 46//46 39//39 76//76
|
||||
f 54//54 55//55 57//57
|
||||
f 56//56 67//67 66//66
|
||||
f 57//57 58//58 24//24
|
||||
f 24//24 58//58 26//26
|
||||
f 23//23 25//25 26//26
|
||||
f 59//59 94//94 25//25
|
||||
f 59//59 60//60 94//94
|
||||
f 93//93 56//56 78//78
|
||||
f 11//11 59//59 25//25
|
||||
f 101//101 96//96 52//52
|
||||
f 82//82 8//8 51//51
|
||||
f 9//9 38//38 22//22
|
||||
f 71//71 73//73 61//61
|
||||
f 75//75 39//39 41//41
|
||||
f 41//41 39//39 51//51
|
||||
f 20//20 53//53 77//77
|
||||
f 64//64 40//40 75//75
|
||||
f 35//35 62//62 41//41
|
||||
f 62//62 75//75 41//41
|
||||
f 62//62 63//63 64//64
|
||||
f 55//55 100//100 57//57
|
||||
f 78//78 65//65 93//93
|
||||
f 53//53 20//20 66//66
|
||||
f 100//100 52//52 67//67
|
||||
f 67//67 52//52 66//66
|
||||
f 68//68 25//25 42//42
|
||||
f 11//11 25//25 68//68
|
||||
f 15//15 79//79 6//6
|
||||
f 69//69 83//83 31//31
|
||||
f 70//70 80//80 69//69
|
||||
f 70//70 5//5 6//6
|
||||
f 84//84 61//61 73//73
|
||||
f 71//71 61//61 45//45
|
||||
f 14//14 48//48 71//71
|
||||
f 71//71 45//45 14//14
|
||||
f 90//90 44//44 89//89
|
||||
f 72//72 29//29 102//102
|
||||
f 102//102 42//42 72//72
|
||||
f 29//29 72//72 30//30
|
||||
f 38//38 30//30 72//72
|
||||
f 10//10 34//34 50//50
|
||||
f 73//73 34//34 74//74
|
||||
f 73//73 71//71 48//48
|
||||
f 42//42 17//17 72//72
|
||||
f 62//62 64//64 75//75
|
||||
f 62//62 35//35 1//1
|
||||
f 63//63 62//62 1//1
|
||||
f 52//52 53//53 66//66
|
||||
f 76//76 77//77 53//53
|
||||
f 77//77 76//76 40//40
|
||||
f 26//26 93//93 27//27
|
||||
f 65//65 78//78 19//19
|
||||
f 78//78 20//20 19//19
|
||||
f 100//100 67//67 57//57
|
||||
f 57//57 67//67 56//56
|
||||
f 24//24 54//54 57//57
|
||||
f 69//69 5//5 70//70
|
||||
f 70//70 79//79 80//80
|
||||
f 85//85 45//45 81//81
|
||||
f 45//45 61//61 81//81
|
||||
f 83//83 85//85 31//31
|
||||
f 86//86 85//85 81//81
|
||||
f 88//88 95//95 101//101
|
||||
f 97//97 39//39 46//46
|
||||
f 82//82 39//39 97//97
|
||||
f 90//90 100//100 44//44
|
||||
f 68//68 42//42 102//102
|
||||
f 56//56 93//93 58//58
|
||||
f 65//65 27//27 93//93
|
||||
f 56//56 66//66 20//20
|
||||
f 78//78 56//56 20//20
|
||||
f 83//83 45//45 85//85
|
||||
f 81//81 61//61 84//84
|
||||
f 12//12 85//85 86//86
|
||||
f 87//87 98//98 36//36
|
||||
f 36//36 91//91 87//87
|
||||
f 99//99 98//98 87//87
|
||||
f 90//90 88//88 101//101
|
||||
f 98//98 95//95 89//89
|
||||
f 95//95 88//88 89//89
|
||||
f 88//88 90//90 89//89
|
||||
f 90//90 101//101 100//100
|
||||
f 82//82 87//87 8//8
|
||||
f 91//91 92//92 87//87
|
||||
f 93//93 26//26 58//58
|
||||
f 44//44 55//55 94//94
|
||||
f 94//94 55//55 54//54
|
||||
f 94//94 60//60 44//44
|
||||
f 99//99 82//82 97//97
|
||||
f 101//101 95//95 96//96
|
||||
f 98//98 97//97 95//95
|
||||
f 97//97 98//98 99//99
|
||||
f 100//100 101//101 52//52
|
||||
f 82//82 99//99 87//87
|
||||
f 92//92 8//8 87//87
|
||||
f 37//37 68//68 102//102
|
||||
f 12//12 31//31 85//85
|
||||
f 96//96 97//97 46//46
|
||||
f 37//37 11//11 68//68
|
||||
f 97//97 96//96 95//95
|
||||
# 200 faces, 0 coords texture
|
||||
|
||||
# End of File
|
||||
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Reference in New Issue
Block a user