├── .gitignore ├── LICENSE ├── README.md ├── agent.py ├── env.py ├── main.py ├── meshes ├── panda │ ├── collision │ │ ├── finger-high-quality.obj │ │ ├── finger.obj │ │ ├── hand.obj │ │ ├── link0.obj │ │ ├── link1.obj │ │ ├── link2.obj │ │ ├── link3.obj │ │ ├── link4.obj │ │ ├── link5.obj │ │ ├── link6.mtl │ │ ├── link6.obj │ │ └── link7.obj │ ├── finger-high-quality.obj │ ├── finger.obj │ └── visual │ │ ├── colors.png │ │ ├── finger.mtl │ │ ├── finger.obj │ │ ├── hand.mtl │ │ ├── hand.obj │ │ ├── link1.mtl │ │ ├── link1.obj │ │ ├── link2.mtl │ │ ├── link2.obj │ │ ├── link3.mtl │ │ ├── link3.obj │ │ ├── link4.mtl │ │ ├── link4.obj │ │ ├── link5.mtl │ │ ├── link5.obj │ │ ├── link6.mtl │ │ └── link6.obj ├── robotiq_140 │ ├── collision │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl │ └── visual │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl ├── robotiq_85 │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── robotiq_arg2f_85_base_link.stl │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_finger.dae.convex.stl │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae.convex.stl │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae.convex.stl │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae.convex.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── robotiq_arg2f_85_base_link.dae │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ ├── robotiq_arg2f_85_pad.dae │ │ ├── robotiq_gripper_coupling.stl │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae └── ur5 │ ├── collision │ ├── base.stl │ ├── forearm.stl │ ├── shoulder.stl │ ├── upperarm.stl │ ├── wrist1.stl │ ├── wrist2.stl │ └── wrist3.stl │ └── visual │ ├── base.obj │ ├── forearm.obj │ ├── shoulder.obj │ ├── upperarm.obj │ ├── wrist1.obj │ ├── wrist2.obj │ └── wrist3.obj ├── robot.py ├── urdf ├── LICENSE ├── objects │ ├── block.urdf │ ├── mesh │ │ └── UR_BANCHETTO1.dae │ ├── table.urdf │ └── ur5_stand.urdf ├── panda.urdf ├── robotiq_140.urdf ├── robotiq_85.urdf ├── skew-box-button.urdf ├── ur5.urdf ├── ur5_robotiq_140.urdf └── ur5_robotiq_85.urdf └── utilities.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; otherwise, check them in: 88 | # .python-version 89 | 90 | # pipenv 91 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 92 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 93 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 94 | # install all needed dependencies. 95 | #Pipfile.lock 96 | 97 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 98 | __pypackages__/ 99 | 100 | # Celery stuff 101 | celerybeat-schedule 102 | celerybeat.pid 103 | 104 | # SageMath parsed files 105 | *.sage.py 106 | 107 | # Environments 108 | .env 109 | .venv 110 | env/ 111 | venv/ 112 | ENV/ 113 | env.bak/ 114 | venv.bak/ 115 | 116 | # Spyder project settings 117 | .spyderproject 118 | .spyproject 119 | 120 | # Rope project settings 121 | .ropeproject 122 | 123 | # mkdocs documentation 124 | /site 125 | 126 | # mypy 127 | .mypy_cache/ 128 | .dmypy.json 129 | dmypy.json 130 | 131 | # Pyre type checker 132 | .pyre/ 133 | 134 | # pytype static type analyzer 135 | .pytype/ 136 | 137 | # Cython debug symbols 138 | cython_debug/ 139 | 140 | # IDEs 141 | .vscode/* 142 | .idea/* 143 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021, ElectronicElephant 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, 5 | are permitted provided that the following conditions are met: 6 | 7 | Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | Redistributions in binary form must reproduce the above copyright notice, this 11 | list of conditions and the following disclaimer in the documentation and/or 12 | other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 15 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 16 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 21 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Gym-Styled UR5 arm with Robotiq-85 / 140 gripper in PyBullet simulator 2 | 3 | *Probably the best one among all GitHub repos.* 4 | 5 | This repo is under active development. Issues / PRs are welcomed. 6 | 7 | ![User Control Demo](https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/main/example.png) 8 | 9 | ## Highlights 10 | 11 | - UR5 arm with end-effector 6D IK (Position [X Y Z] and Orientation [R P Y]) 12 | - Enhanced Robotiq-85 / 140 gripper, with precise position control and experimental torque control 13 | - Built-in YCB models loader (and obj models after decomposition) 14 | - Gym-styled API, making it suitable for Reinforcement Learning in the field of push-and-grasp 15 | - A heuristic grasping demo 16 | - An interactive user-control demo 17 | 18 | ## Prerequisite 19 | - Python 3 20 | - PyBullet 21 | 22 | ## Run 23 | 24 | You can try this repo with the interactive user-control demo. 25 | ```[Python] 26 | python main.py 27 | ``` 28 | 29 | You can change the XYZ and RPY of the gripper on the right panel. 30 | 31 | Press `Z` to close the gripper and `R` to open it. 32 | 33 | ## Usage 34 | 35 | See `heuristic demo` in `main.py`. 36 | 37 | ### References 38 | https://github.com/matafela/pybullet_grasp_annotator_robotiq_85 39 | 40 | https://github.com/zswang666/pybullet-playground 41 | 42 | https://github.com/ros-industrial/robotiq 43 | 44 | https://github.com/Alchemist77/pybullet-ur5-equipped-with-robotiq-140 45 | 46 | I do not claim copyright for any model files under this repo. 47 | -------------------------------------------------------------------------------- /agent.py: -------------------------------------------------------------------------------- 1 | from tqdm import tqdm 2 | import matplotlib.pyplot as plt 3 | from collections import namedtuple 4 | 5 | 6 | Transition = namedtuple('Transition', 7 | ('state', 'action', 'reward', 'next_state')) 8 | 9 | 10 | class BaseAgent(object): 11 | def act(self, observation, reward, done): 12 | pass 13 | 14 | 15 | class RandomAgent(BaseAgent): 16 | """The world's simplest agent!""" 17 | 18 | def __init__(self, action_space): 19 | self.action_space = action_space 20 | 21 | def act(self, observation, reward, done): 22 | return self.action_space.sample() 23 | -------------------------------------------------------------------------------- /env.py: -------------------------------------------------------------------------------- 1 | import time 2 | import math 3 | import random 4 | 5 | import numpy as np 6 | import pybullet as p 7 | import pybullet_data 8 | 9 | from utilities import Models, Camera 10 | from collections import namedtuple 11 | from attrdict import AttrDict 12 | from tqdm import tqdm 13 | 14 | 15 | class FailToReachTargetError(RuntimeError): 16 | pass 17 | 18 | 19 | class ClutteredPushGrasp: 20 | 21 | SIMULATION_STEP_DELAY = 1 / 240. 22 | 23 | def __init__(self, robot, models: Models, camera=None, vis=False) -> None: 24 | self.robot = robot 25 | self.vis = vis 26 | if self.vis: 27 | self.p_bar = tqdm(ncols=0, disable=False) 28 | self.camera = camera 29 | 30 | # define environment 31 | self.physicsClient = p.connect(p.GUI if self.vis else p.DIRECT) 32 | p.setAdditionalSearchPath(pybullet_data.getDataPath()) 33 | p.setGravity(0, 0, -10) 34 | self.planeID = p.loadURDF("plane.urdf") 35 | 36 | self.robot.load() 37 | self.robot.step_simulation = self.step_simulation 38 | 39 | # custom sliders to tune parameters (name of the parameter,range,initial value) 40 | self.xin = p.addUserDebugParameter("x", -0.224, 0.224, 0) 41 | self.yin = p.addUserDebugParameter("y", -0.224, 0.224, 0) 42 | self.zin = p.addUserDebugParameter("z", 0, 1., 0.5) 43 | self.rollId = p.addUserDebugParameter("roll", -3.14, 3.14, 0) 44 | self.pitchId = p.addUserDebugParameter("pitch", -3.14, 3.14, np.pi/2) 45 | self.yawId = p.addUserDebugParameter("yaw", -np.pi/2, np.pi/2, np.pi/2) 46 | self.gripper_opening_length_control = p.addUserDebugParameter("gripper_opening_length", 0, 0.085, 0.04) 47 | 48 | self.boxID = p.loadURDF("./urdf/skew-box-button.urdf", 49 | [0.0, 0.0, 0.0], 50 | # p.getQuaternionFromEuler([0, 1.5706453, 0]), 51 | p.getQuaternionFromEuler([0, 0, 0]), 52 | useFixedBase=True, 53 | flags=p.URDF_MERGE_FIXED_LINKS | p.URDF_USE_SELF_COLLISION) 54 | 55 | # For calculating the reward 56 | self.box_opened = False 57 | self.btn_pressed = False 58 | self.box_closed = False 59 | 60 | def step_simulation(self): 61 | """ 62 | Hook p.stepSimulation() 63 | """ 64 | p.stepSimulation() 65 | if self.vis: 66 | time.sleep(self.SIMULATION_STEP_DELAY) 67 | self.p_bar.update(1) 68 | 69 | def read_debug_parameter(self): 70 | # read the value of task parameter 71 | x = p.readUserDebugParameter(self.xin) 72 | y = p.readUserDebugParameter(self.yin) 73 | z = p.readUserDebugParameter(self.zin) 74 | roll = p.readUserDebugParameter(self.rollId) 75 | pitch = p.readUserDebugParameter(self.pitchId) 76 | yaw = p.readUserDebugParameter(self.yawId) 77 | gripper_opening_length = p.readUserDebugParameter(self.gripper_opening_length_control) 78 | 79 | return x, y, z, roll, pitch, yaw, gripper_opening_length 80 | 81 | def step(self, action, control_method='joint'): 82 | """ 83 | action: (x, y, z, roll, pitch, yaw, gripper_opening_length) for End Effector Position Control 84 | (a1, a2, a3, a4, a5, a6, a7, gripper_opening_length) for Joint Position Control 85 | control_method: 'end' for end effector position control 86 | 'joint' for joint position control 87 | """ 88 | assert control_method in ('joint', 'end') 89 | self.robot.move_ee(action[:-1], control_method) 90 | self.robot.move_gripper(action[-1]) 91 | for _ in range(120): # Wait for a few steps 92 | self.step_simulation() 93 | 94 | reward = self.update_reward() 95 | done = True if reward == 1 else False 96 | info = dict(box_opened=self.box_opened, btn_pressed=self.btn_pressed, box_closed=self.box_closed) 97 | return self.get_observation(), reward, done, info 98 | 99 | def update_reward(self): 100 | reward = 0 101 | if not self.box_opened: 102 | if p.getJointState(self.boxID, 1)[0] > 1.9: 103 | self.box_opened = True 104 | print('Box opened!') 105 | elif not self.btn_pressed: 106 | if p.getJointState(self.boxID, 0)[0] < - 0.02: 107 | self.btn_pressed = True 108 | print('Btn pressed!') 109 | else: 110 | if p.getJointState(self.boxID, 1)[0] < 0.1: 111 | print('Box closed!') 112 | self.box_closed = True 113 | reward = 1 114 | return reward 115 | 116 | def get_observation(self): 117 | obs = dict() 118 | if isinstance(self.camera, Camera): 119 | rgb, depth, seg = self.camera.shot() 120 | obs.update(dict(rgb=rgb, depth=depth, seg=seg)) 121 | else: 122 | assert self.camera is None 123 | obs.update(self.robot.get_joint_obs()) 124 | 125 | return obs 126 | 127 | def reset_box(self): 128 | p.setJointMotorControl2(self.boxID, 0, p.POSITION_CONTROL, force=1) 129 | p.setJointMotorControl2(self.boxID, 1, p.VELOCITY_CONTROL, force=0) 130 | 131 | def reset(self): 132 | self.robot.reset() 133 | self.reset_box() 134 | return self.get_observation() 135 | 136 | def close(self): 137 | p.disconnect(self.physicsClient) 138 | -------------------------------------------------------------------------------- /main.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | import numpy as np 4 | import pybullet as p 5 | 6 | from tqdm import tqdm 7 | from env import ClutteredPushGrasp 8 | from robot import Panda, UR5Robotiq85, UR5Robotiq140 9 | from utilities import YCBModels, Camera 10 | import time 11 | import math 12 | 13 | 14 | def user_control_demo(): 15 | ycb_models = YCBModels( 16 | os.path.join('./data/ycb', '**', 'textured-decmp.obj'), 17 | ) 18 | camera = Camera((1, 1, 1), 19 | (0, 0, 0), 20 | (0, 0, 1), 21 | 0.1, 5, (320, 320), 40) 22 | camera = None 23 | # robot = Panda((0, 0.5, 0), (0, 0, math.pi)) 24 | robot = UR5Robotiq85((0, 0.5, 0), (0, 0, 0)) 25 | env = ClutteredPushGrasp(robot, ycb_models, camera, vis=True) 26 | 27 | env.reset() 28 | # env.SIMULATION_STEP_DELAY = 0 29 | while True: 30 | obs, reward, done, info = env.step(env.read_debug_parameter(), 'end') 31 | # print(obs, reward, done, info) 32 | 33 | 34 | if __name__ == '__main__': 35 | user_control_demo() 36 | -------------------------------------------------------------------------------- /meshes/panda/collision/finger-high-quality.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | v -0.004910 0.026440 0.004058 3 | v -0.010620 0.003369 0.000252 4 | v -0.010382 0.002416 0.000015 5 | v 0.005082 0.002416 0.004058 6 | v 0.010554 0.026440 0.000015 7 | v -0.010620 0.026440 0.000015 8 | v 0.010554 0.002416 0.000015 9 | v 0.010554 0.024060 0.004772 10 | v -0.010620 0.010981 0.004772 11 | v 0.010554 0.010981 0.004772 12 | v -0.010382 0.024060 0.004772 13 | v -0.004910 0.002416 0.004058 14 | v 0.005082 0.026440 0.004058 15 | v -0.010382 0.002416 0.001918 16 | v 0.010554 0.002416 0.001918 17 | v 0.010554 0.026440 0.001918 18 | v -0.010382 0.026440 0.001918 19 | v 0.010554 0.007889 0.004058 20 | v -0.010382 0.007889 0.004058 21 | v -0.010620 0.017876 0.004772 22 | v -0.010620 0.003844 0.001918 23 | v -0.010620 0.025013 0.001918 24 | f 20 11 22 25 | f 5 3 6 26 | f 3 2 6 27 | f 1 5 6 28 | f 4 3 7 29 | f 3 5 7 30 | f 7 5 8 31 | f 6 2 9 32 | f 7 8 10 33 | f 9 4 10 34 | f 8 9 10 35 | f 8 1 11 36 | f 9 8 11 37 | f 3 4 12 38 | f 4 9 12 39 | f 5 1 13 40 | f 1 8 13 41 | f 2 3 14 42 | f 3 12 14 43 | f 4 7 15 44 | f 7 10 15 45 | f 8 5 16 46 | f 5 13 16 47 | f 13 8 16 48 | f 1 6 17 49 | f 11 1 17 50 | f 10 4 18 51 | f 4 15 18 52 | f 15 10 18 53 | f 12 9 19 54 | f 9 14 19 55 | f 14 12 19 56 | f 6 9 20 57 | f 9 11 20 58 | f 9 2 21 59 | f 2 14 21 60 | f 14 9 21 61 | f 17 6 22 62 | f 11 17 22 63 | f 6 20 22 64 | o convex_1 65 | v 0.010554 0.019305 0.021186 66 | v 0.010315 0.022635 0.004774 67 | v 0.010315 0.024301 0.004774 68 | v -0.010620 0.016928 0.020472 69 | v 0.010554 0.011218 0.004776 70 | v -0.010381 0.025491 0.005963 71 | v -0.010620 0.011218 0.004776 72 | v -0.010381 0.025251 0.019758 73 | v 0.010554 0.011457 0.017855 74 | v 0.010554 0.025491 0.019046 75 | v -0.010143 0.015025 0.023329 76 | v 0.010077 0.023110 0.023329 77 | v -0.010381 0.011457 0.018093 78 | v 0.010077 0.015025 0.023329 79 | v -0.010143 0.023110 0.023329 80 | v 0.010554 0.025491 0.005963 81 | v -0.010381 0.024299 0.004776 82 | v -0.010620 0.025251 0.019520 83 | v -0.010381 0.025491 0.014286 84 | v 0.005080 0.011218 0.008581 85 | v -0.010620 0.017642 0.004776 86 | v -0.010620 0.011694 0.017855 87 | v 0.010315 0.023585 0.022613 88 | v -0.010381 0.015500 0.023329 89 | v 0.010315 0.015263 0.023329 90 | v -0.001341 0.011457 0.018093 91 | v -0.010143 0.023348 0.023089 92 | v -0.010620 0.025251 0.015713 93 | v -0.010620 0.011218 0.005963 94 | v 0.010315 0.024537 0.020948 95 | v 0.010554 0.011218 0.007867 96 | v -0.010381 0.022634 0.022613 97 | v 0.010554 0.024301 0.004774 98 | v 0.010315 0.022634 0.023329 99 | v 0.010554 0.017166 0.021424 100 | v -0.004433 0.025251 0.019758 101 | f 45 52 58 102 | f 25 24 29 103 | f 24 27 29 104 | f 27 23 31 105 | f 23 27 32 106 | f 33 35 36 107 | f 34 33 36 108 | f 33 34 37 109 | f 25 28 38 110 | f 32 27 38 111 | f 28 32 38 112 | f 28 25 39 113 | f 29 26 40 114 | f 32 28 41 115 | f 30 32 41 116 | f 28 40 41 117 | f 40 30 41 118 | f 29 27 42 119 | f 25 29 43 120 | f 39 25 43 121 | f 28 39 43 122 | f 29 40 43 123 | f 26 29 44 124 | f 35 33 44 125 | f 33 37 46 126 | f 26 44 46 127 | f 44 33 46 128 | f 36 31 47 129 | f 34 36 47 130 | f 36 35 48 131 | f 31 36 48 132 | f 42 31 48 133 | f 35 42 48 134 | f 37 34 49 135 | f 30 40 49 136 | f 40 37 49 137 | f 34 45 49 138 | f 40 28 50 139 | f 28 43 50 140 | f 43 40 50 141 | f 29 42 51 142 | f 42 35 51 143 | f 44 29 51 144 | f 35 44 51 145 | f 45 32 52 146 | f 27 31 53 147 | f 42 27 53 148 | f 31 42 53 149 | f 40 26 54 150 | f 37 40 54 151 | f 46 37 54 152 | f 26 46 54 153 | f 24 25 55 154 | f 27 24 55 155 | f 25 38 55 156 | f 38 27 55 157 | f 23 32 56 158 | f 32 45 56 159 | f 45 34 56 160 | f 34 47 56 161 | f 56 47 57 162 | f 31 23 57 163 | f 47 31 57 164 | f 23 56 57 165 | f 32 30 58 166 | f 30 49 58 167 | f 49 45 58 168 | f 52 32 58 169 | o convex_2 170 | v -0.009906 0.014787 0.028802 171 | v 0.010078 0.022873 0.023805 172 | v 0.001512 0.022396 0.024757 173 | v 0.008888 0.015973 0.035938 174 | v 0.010078 0.014549 0.023567 175 | v 0.009124 0.007886 0.035938 176 | v -0.008953 0.015973 0.035938 177 | v -0.010144 0.014787 0.023329 178 | v -0.009191 0.007886 0.035460 179 | v -0.010144 0.022873 0.023329 180 | v 0.010316 0.021206 0.023329 181 | v 0.009124 0.008126 0.034748 182 | v -0.009191 0.007886 0.035938 183 | v -0.010144 0.022633 0.024282 184 | v 0.010316 0.015024 0.023329 185 | v 0.009363 0.016211 0.034985 186 | v -0.009429 0.016449 0.034272 187 | v -0.005147 0.014549 0.023567 188 | v 0.010078 0.022873 0.023329 189 | v -0.009191 0.009315 0.032844 190 | v -0.010144 0.013834 0.025947 191 | v 0.009124 0.016686 0.034748 192 | v -0.008953 0.016686 0.034748 193 | v 0.010316 0.015973 0.024045 194 | v 0.009363 0.008839 0.034032 195 | v -0.010144 0.021445 0.025472 196 | v 0.003176 0.007886 0.035222 197 | v -0.009906 0.022396 0.024757 198 | v 0.010078 0.022633 0.024282 199 | v -0.009191 0.015736 0.035938 200 | v -0.009429 0.009791 0.034032 201 | v -0.009906 0.014311 0.024045 202 | v 0.010078 0.021206 0.026185 203 | f 87 74 91 204 | f 64 62 65 205 | f 66 68 69 206 | f 64 65 71 207 | f 67 64 71 208 | f 60 68 72 209 | f 68 66 72 210 | f 63 66 73 211 | f 66 69 73 212 | f 70 63 73 213 | f 62 64 74 214 | f 66 63 76 215 | f 63 70 76 216 | f 68 60 77 217 | f 69 68 77 218 | f 60 69 77 219 | f 66 67 79 220 | f 67 71 79 221 | f 72 66 79 222 | f 65 62 80 223 | f 62 74 80 224 | f 72 65 81 225 | f 80 61 81 226 | f 65 80 81 227 | f 73 69 82 228 | f 82 74 83 229 | f 64 70 83 230 | f 70 73 83 231 | f 74 64 83 232 | f 73 82 83 233 | f 59 75 84 234 | f 75 72 84 235 | f 79 59 84 236 | f 72 79 84 237 | f 64 67 85 238 | f 70 64 85 239 | f 76 70 85 240 | f 67 78 85 241 | f 78 76 85 242 | f 61 60 86 243 | f 60 72 86 244 | f 81 61 86 245 | f 72 81 86 246 | f 60 61 87 247 | f 69 60 87 248 | f 61 80 87 249 | f 80 74 87 250 | f 71 65 88 251 | f 65 72 88 252 | f 75 71 88 253 | f 72 75 88 254 | f 75 59 89 255 | f 71 75 89 256 | f 59 79 89 257 | f 79 71 89 258 | f 67 66 90 259 | f 66 76 90 260 | f 78 67 90 261 | f 76 78 90 262 | f 82 69 91 263 | f 74 82 91 264 | f 69 87 91 265 | o convex_3 266 | v 0.001513 0.000987 0.054019 267 | v -0.009193 0.009551 0.035940 268 | v -0.009193 0.014309 0.035940 269 | v 0.009126 0.006936 0.035940 270 | v 0.006984 0.014544 0.053067 271 | v -0.008240 0.014309 0.052115 272 | v -0.008954 -0.000203 0.036177 273 | v 0.008888 -0.000203 0.050449 274 | v 0.008888 0.015499 0.035940 275 | v -0.008716 -0.000203 0.050688 276 | v 0.008888 -0.000203 0.036177 277 | v 0.009126 0.014308 0.049973 278 | v -0.005622 0.014544 0.053780 279 | v -0.005861 -0.000203 0.053780 280 | v -0.008954 0.015499 0.036177 281 | v -0.009193 0.014309 0.048782 282 | v 0.006033 -0.000203 0.053541 283 | v 0.005081 0.014544 0.054019 284 | v -0.005622 0.013118 0.054019 285 | v -0.008954 0.000035 0.049973 286 | v 0.008411 0.011692 0.051876 287 | v -0.002054 0.002891 0.035940 288 | v 0.007222 0.000750 0.053067 289 | v -0.008002 0.004556 0.052352 290 | v 0.005795 0.009551 0.054019 291 | v 0.009126 0.014308 0.035940 292 | v -0.008954 0.014071 0.050688 293 | v -0.007288 0.009313 0.053067 294 | v 0.006984 0.014309 0.053304 295 | v -0.008716 0.014544 0.050688 296 | v 0.005319 -0.000203 0.053780 297 | v -0.005622 0.007648 0.054019 298 | v 0.008649 0.014544 0.051162 299 | v 0.009126 0.011454 0.049734 300 | v -0.008002 -0.000203 0.052115 301 | v -0.008716 0.009551 0.051400 302 | v -0.008954 0.004556 0.035940 303 | v 0.009126 0.006460 0.039271 304 | v -0.009193 0.009551 0.041173 305 | v 0.008888 0.004556 0.035940 306 | v -0.001102 0.000750 0.054019 307 | v -0.008954 0.015499 0.035940 308 | v 0.008888 0.015499 0.036177 309 | v 0.008888 0.007173 0.050925 310 | v -0.003245 0.014544 0.054019 311 | v 0.004842 0.003129 0.054019 312 | v -0.007527 0.014309 0.052828 313 | v 0.007699 -0.000203 0.052352 314 | v 0.008411 0.014309 0.051876 315 | v -0.006336 0.000750 0.053541 316 | f 115 126 141 317 | f 93 94 95 318 | f 95 94 100 319 | f 98 99 101 320 | f 99 98 102 321 | f 101 99 105 322 | f 94 93 107 323 | f 106 94 107 324 | f 105 99 108 325 | f 92 109 110 326 | f 98 101 111 327 | f 93 95 113 328 | f 102 98 113 329 | f 109 92 116 330 | f 108 114 116 331 | f 95 100 117 332 | f 103 95 117 333 | f 100 103 117 334 | f 107 111 118 335 | f 97 115 119 336 | f 96 109 120 337 | f 109 116 120 338 | f 116 114 120 339 | f 97 104 121 340 | f 104 106 121 341 | f 106 107 121 342 | f 118 97 121 343 | f 107 118 121 344 | f 105 108 122 345 | f 108 116 122 346 | f 92 110 123 347 | f 110 119 123 348 | f 95 103 125 349 | f 103 99 125 350 | f 101 105 126 351 | f 126 115 127 352 | f 111 101 127 353 | f 115 97 127 354 | f 97 118 127 355 | f 118 111 127 356 | f 101 126 127 357 | f 98 93 128 358 | f 93 113 128 359 | f 113 98 128 360 | f 102 95 129 361 | f 99 102 129 362 | f 95 125 129 363 | f 125 99 129 364 | f 93 98 130 365 | f 107 93 130 366 | f 98 111 130 367 | f 111 107 130 368 | f 95 102 131 369 | f 113 95 131 370 | f 102 113 131 371 | f 122 92 132 372 | f 105 122 132 373 | f 92 123 132 374 | f 123 105 132 375 | f 100 94 133 376 | f 94 106 133 377 | f 106 100 133 378 | f 103 100 134 379 | f 100 106 134 380 | f 109 96 134 381 | f 106 109 134 382 | f 96 124 134 383 | f 124 103 134 384 | f 99 103 135 385 | f 106 104 136 386 | f 109 106 136 387 | f 104 110 136 388 | f 110 109 136 389 | f 116 92 137 390 | f 92 122 137 391 | f 122 116 137 392 | f 104 97 138 393 | f 110 104 138 394 | f 97 119 138 395 | f 119 110 138 396 | f 108 99 139 397 | f 114 108 139 398 | f 112 114 139 399 | f 99 135 139 400 | f 135 112 139 401 | f 114 112 140 402 | f 96 120 140 403 | f 120 114 140 404 | f 124 96 140 405 | f 103 124 140 406 | f 135 103 140 407 | f 112 135 140 408 | f 119 115 141 409 | f 105 123 141 410 | f 123 119 141 411 | f 126 105 141 412 | -------------------------------------------------------------------------------- /meshes/panda/collision/finger.obj: -------------------------------------------------------------------------------- 1 | # File produced by Open Asset Import Library (http://www.assimp.sf.net) 2 | # (assimp v3.0.1262) 3 | 4 | mtllib finger.stl.obj.mtl 5 | 6 | # 96 vertex positions 7 | v 0.01036 0.0264034 0.000154629 8 | v 0.0104486 0.0025833 0.000146801 9 | v -0.0103872 0.00253418 0.000131696 10 | v -0.0103872 0.00253418 0.000131696 11 | v -0.0104795 0.0161016 0.0189882 12 | v -0.0104013 0.0263094 0.00016651 13 | v -0.0104013 0.0263094 0.00016651 14 | v -0.0104795 0.0161016 0.0189882 15 | v -0.0103889 0.0252203 0.0191876 16 | v 0.0104486 0.0025833 0.000146801 17 | v -0.0087304 -2.35252e-05 0.0361648 18 | v -0.0103872 0.00253418 0.000131696 19 | v 0.0104005 0.0252534 0.0190366 20 | v -0.0103889 0.0252203 0.0191876 21 | v 0.00583983 0.0142743 0.0538035 22 | v -0.0103872 0.00253418 0.000131696 23 | v -0.0104013 0.0263094 0.00016651 24 | v 0.01036 0.0264034 0.000154629 25 | v 0.00861608 0.0139887 0.0513279 26 | v 0.0104948 0.0151026 0.0184356 27 | v 0.0104005 0.0252534 0.0190366 28 | v 0.0104948 0.0151026 0.0184356 29 | v 0.00869277 -0.000132643 0.0501662 30 | v 0.0104486 0.0025833 0.000146801 31 | v 0.00861608 0.0139887 0.0513279 32 | v 0.00869277 -0.000132643 0.0501662 33 | v 0.0104948 0.0151026 0.0184356 34 | v -0.00862294 -5.68019e-05 0.0509528 35 | v -0.0103872 0.00253418 0.000131696 36 | v -0.0087304 -2.35252e-05 0.0361648 37 | v 0.0104486 0.0025833 0.000146801 38 | v 0.00869277 -0.000132643 0.0501662 39 | v -0.0087304 -2.35252e-05 0.0361648 40 | v 0.00869277 -0.000132643 0.0501662 41 | v -0.00548142 -9.11208e-05 0.0537247 42 | v -0.0087304 -2.35252e-05 0.0361648 43 | v 0.0104005 0.0252534 0.0190366 44 | v 0.0104948 0.0151026 0.0184356 45 | v 0.0104486 0.0025833 0.000146801 46 | v 0.0104005 0.0252534 0.0190366 47 | v 0.0104486 0.0025833 0.000146801 48 | v 0.01036 0.0264034 0.000154629 49 | v 0.0104005 0.0252534 0.0190366 50 | v 0.01036 0.0264034 0.000154629 51 | v -0.0103889 0.0252203 0.0191876 52 | v -0.0103889 0.0252203 0.0191876 53 | v -0.00527792 0.0142931 0.053849 54 | v 0.00583983 0.0142743 0.0538035 55 | v -0.00777838 0.0142182 0.0523659 56 | v -0.00527792 0.0142931 0.053849 57 | v -0.0103889 0.0252203 0.0191876 58 | v -0.00862294 -5.68019e-05 0.0509528 59 | v -0.00548142 -9.11208e-05 0.0537247 60 | v -0.00777838 0.0142182 0.0523659 61 | v -0.0103872 0.00253418 0.000131696 62 | v -0.00862294 -5.68019e-05 0.0509528 63 | v -0.0104795 0.0161016 0.0189882 64 | v 0.0104005 0.0252534 0.0190366 65 | v 0.00583983 0.0142743 0.0538035 66 | v 0.00861608 0.0139887 0.0513279 67 | v 0.01036 0.0264034 0.000154629 68 | v -0.0104013 0.0263094 0.00016651 69 | v -0.0103889 0.0252203 0.0191876 70 | v -0.0104795 0.0161016 0.0189882 71 | v -0.00884117 0.0139176 0.0505894 72 | v -0.0103889 0.0252203 0.0191876 73 | v -0.00884117 0.0139176 0.0505894 74 | v -0.00777838 0.0142182 0.0523659 75 | v -0.0103889 0.0252203 0.0191876 76 | v 0.00583983 0.0142743 0.0538035 77 | v -0.00548142 -9.11208e-05 0.0537247 78 | v 0.00613802 -2.06026e-05 0.0535776 79 | v -0.00527792 0.0142931 0.053849 80 | v -0.00548142 -9.11208e-05 0.0537247 81 | v 0.00583983 0.0142743 0.0538035 82 | v 0.00869277 -0.000132643 0.0501662 83 | v 0.00613802 -2.06026e-05 0.0535776 84 | v -0.00548142 -9.11208e-05 0.0537247 85 | v 0.00613802 -2.06026e-05 0.0535776 86 | v 0.00869277 -0.000132643 0.0501662 87 | v 0.00861608 0.0139887 0.0513279 88 | v -0.00548142 -9.11208e-05 0.0537247 89 | v -0.00862294 -5.68019e-05 0.0509528 90 | v -0.0087304 -2.35252e-05 0.0361648 91 | v -0.00777838 0.0142182 0.0523659 92 | v -0.00548142 -9.11208e-05 0.0537247 93 | v -0.00527792 0.0142931 0.053849 94 | v -0.00862294 -5.68019e-05 0.0509528 95 | v -0.00884117 0.0139176 0.0505894 96 | v -0.0104795 0.0161016 0.0189882 97 | v 0.00613802 -2.06026e-05 0.0535776 98 | v 0.00861608 0.0139887 0.0513279 99 | v 0.00583983 0.0142743 0.0538035 100 | v -0.00777838 0.0142182 0.0523659 101 | v -0.00884117 0.0139176 0.0505894 102 | v -0.00862294 -5.68019e-05 0.0509528 103 | 104 | # 0 UV coordinates 105 | 106 | # 96 vertex normals 107 | vn 0.000724164 0.000331308 -1 108 | vn 0.000724164 0.000331308 -1 109 | vn 0.000724164 0.000331308 -1 110 | vn -0.99999 -0.000585782 -0.00447174 111 | vn -0.99999 -0.000585782 -0.00447174 112 | vn -0.99999 -0.000585782 -0.00447174 113 | vn -0.99995 0.00990875 0.00122006 114 | vn -0.99995 0.00990875 0.00122006 115 | vn -0.99995 0.00990875 0.00122006 116 | vn 0.00240304 -0.997479 -0.0709137 117 | vn 0.00240304 -0.997479 -0.0709137 118 | vn 0.00240304 -0.997479 -0.0709137 119 | vn 0.000668274 0.953556 0.301214 120 | vn 0.000668274 0.953556 0.301214 121 | vn 0.000668274 0.953556 0.301214 122 | vn -0.0005789 0.00146393 -0.999999 123 | vn -0.0005789 0.00146393 -0.999999 124 | vn -0.0005789 0.00146393 -0.999999 125 | vn 0.998344 0.00589157 0.0572229 126 | vn 0.998344 0.00589157 0.0572229 127 | vn 0.998344 0.00589157 0.0572229 128 | vn 0.998185 -0.050838 0.0322792 129 | vn 0.998185 -0.050838 0.0322792 130 | vn 0.998185 -0.050838 0.0322792 131 | vn 0.998371 0.000729252 0.0570496 132 | vn 0.998371 0.000729252 0.0570496 133 | vn 0.998371 0.000729252 0.0570496 134 | vn -0.871287 -0.490747 0.00522707 135 | vn -0.871287 -0.490747 0.00522707 136 | vn -0.871287 -0.490747 0.00522707 137 | vn 0.0362712 -0.99794 -0.0529128 138 | vn 0.0362712 -0.99794 -0.0529128 139 | vn 0.0362712 -0.99794 -0.0529128 140 | vn -0.00372285 -0.999988 -0.00316058 141 | vn -0.00372285 -0.999988 -0.00316058 142 | vn -0.00372285 -0.999988 -0.00316058 143 | vn 0.999909 0.00984192 -0.00926313 144 | vn 0.999909 0.00984192 -0.00926313 145 | vn 0.999909 0.00984192 -0.00926313 146 | vn 0.999991 0.00372285 -0.00191858 147 | vn 0.999991 0.00372285 -0.00191858 148 | vn 0.999991 0.00372285 -0.00191858 149 | vn -0.0011495 0.99815 0.0607926 150 | vn -0.0011495 0.99815 0.0607926 151 | vn -0.0011495 0.99815 0.0607926 152 | vn 0.00284562 0.953846 0.300284 153 | vn 0.00284562 0.953846 0.300284 154 | vn 0.00284562 0.953846 0.300284 155 | vn -0.218924 0.920873 0.32259 156 | vn -0.218924 0.920873 0.32259 157 | vn -0.218924 0.920873 0.32259 158 | vn -0.661425 -0.0350314 0.749193 159 | vn -0.661425 -0.0350314 0.749193 160 | vn -0.661425 -0.0350314 0.749193 161 | vn -0.998169 -0.0513123 0.0320353 162 | vn -0.998169 -0.0513123 0.0320353 163 | vn -0.998169 -0.0513123 0.0320353 164 | vn 0.377717 0.867563 0.323518 165 | vn 0.377717 0.867563 0.323518 166 | vn 0.377717 0.867563 0.323518 167 | vn -0.00448618 0.998355 0.0571685 168 | vn -0.00448618 0.998355 0.0571685 169 | vn -0.00448618 0.998355 0.0571685 170 | vn -0.998589 0.0087761 0.0523757 171 | vn -0.998589 0.0087761 0.0523757 172 | vn -0.998589 0.0087761 0.0523757 173 | vn -0.665951 0.690851 0.281485 174 | vn -0.665951 0.690851 0.281485 175 | vn -0.665951 0.690851 0.281485 176 | vn 0.0127505 -0.0155288 0.999798 177 | vn 0.0127505 -0.0155288 0.999798 178 | vn 0.0127505 -0.0155288 0.999798 179 | vn 0.00408502 -0.00870048 0.999954 180 | vn 0.00408502 -0.00870048 0.999954 181 | vn 0.00408502 -0.00870048 0.999954 182 | vn 0.006542 -0.999267 0.0377181 183 | vn 0.006542 -0.999267 0.0377181 184 | vn 0.006542 -0.999267 0.0377181 185 | vn 0.798906 -0.0450007 0.59977 186 | vn 0.798906 -0.0450007 0.59977 187 | vn 0.798906 -0.0450007 0.59977 188 | vn -0.00899609 -0.999957 -0.00218479 189 | vn -0.00899609 -0.999957 -0.00218479 190 | vn -0.00899609 -0.999957 -0.00218479 191 | vn -0.510144 -0.000216662 0.860089 192 | vn -0.510144 -0.000216662 0.860089 193 | vn -0.510144 -0.000216662 0.860089 194 | vn -0.998608 -0.0142745 0.0507836 195 | vn -0.998608 -0.0142745 0.0507836 196 | vn -0.998608 -0.0142745 0.0507836 197 | vn 0.665648 0.00209596 0.746263 198 | vn 0.665648 0.00209596 0.746263 199 | vn 0.665648 0.00209596 0.746263 200 | vn -0.858159 -4.90786e-05 0.513384 201 | vn -0.858159 -4.90786e-05 0.513384 202 | vn -0.858159 -4.90786e-05 0.513384 203 | 204 | # Mesh '' with 32 faces 205 | g 206 | usemtl DefaultMaterial 207 | f 1//1 2//2 3//3 208 | f 4//4 5//5 6//6 209 | f 7//7 8//8 9//9 210 | f 10//10 11//11 12//12 211 | f 13//13 14//14 15//15 212 | f 16//16 17//17 18//18 213 | f 19//19 20//20 21//21 214 | f 22//22 23//23 24//24 215 | f 25//25 26//26 27//27 216 | f 28//28 29//29 30//30 217 | f 31//31 32//32 33//33 218 | f 34//34 35//35 36//36 219 | f 37//37 38//38 39//39 220 | f 40//40 41//41 42//42 221 | f 43//43 44//44 45//45 222 | f 46//46 47//47 48//48 223 | f 49//49 50//50 51//51 224 | f 52//52 53//53 54//54 225 | f 55//55 56//56 57//57 226 | f 58//58 59//59 60//60 227 | f 61//61 62//62 63//63 228 | f 64//64 65//65 66//66 229 | f 67//67 68//68 69//69 230 | f 70//70 71//71 72//72 231 | f 73//73 74//74 75//75 232 | f 76//76 77//77 78//78 233 | f 79//79 80//80 81//81 234 | f 82//82 83//83 84//84 235 | f 85//85 86//86 87//87 236 | f 88//88 89//89 90//90 237 | f 91//91 92//92 93//93 238 | f 94//94 95//95 96//96 239 | 240 | -------------------------------------------------------------------------------- /meshes/panda/collision/hand.obj: -------------------------------------------------------------------------------- 1 | # File produced by Open Asset Import Library (http://www.assimp.sf.net) 2 | # (assimp v3.1.187496374) 3 | 4 | mtllib hand.obj.mtl 5 | 6 | # 102 vertex positions 7 | v 0.0167349 0.0901289 0.0644319 8 | v 0.0171343 -0.0892712 0.0636144 9 | v 0.0315898 -0.000558518 0.00621423 10 | v -0.0170537 -0.0955248 0.0221212 11 | v -0.0175104 -0.0979076 0.0516662 12 | v -0.0315975 -0.0019865 0.00115293 13 | v -0.025981 0.0757697 -0.00508223 14 | v -0.0316359 -0.000578733 0.00597307 15 | v 0.0170332 -0.0968023 0.030322 16 | v 0.0316158 -0.00186086 0.00117971 17 | v 0.0175851 -0.0974071 0.0519846 18 | v 0.0185559 0.0946019 0.0566173 19 | v -0.0168042 -0.0919061 0.00629548 20 | v -0.0168122 -0.0875329 -0.00120645 21 | v 0.0162301 -0.0995375 0.0515841 22 | v -4.10844e-05 -0.10399 0.00569088 23 | v -1.72733e-05 -0.103743 -0.0091993 24 | v -0.00361677 -0.101158 -0.0126103 25 | v -0.00342956 -0.102598 -0.0089643 26 | v -0.0252704 0.0820651 0.00519704 27 | v -0.0280109 0.0417843 -0.0063964 28 | v -0.000112569 0.0928085 0.0659622 29 | v -0.0125667 0.0937125 0.0651685 30 | v -0.014422 0.0912765 0.0656897 31 | v -0.0172547 -0.0907003 0.063082 32 | v -0.0154717 -0.0907063 0.0651901 33 | v -0.0167672 0.0902522 0.0643322 34 | v 0.0169555 -0.0916029 0.00556283 35 | v 0.0176072 -0.0938476 0.0584485 36 | v 0.0125057 -0.100188 0.0568941 37 | v 0.0155509 0.1002 0.0546726 38 | v 0.0192688 0.0984936 0.0449417 39 | v 0.0162184 0.100285 0.0458698 40 | v 0.00191744 -0.0455199 -0.0256594 41 | v 0.0280151 0.0420423 -0.0063496 42 | v 0.00381034 -0.0829662 -0.0244493 43 | v 0.0206709 0.0936918 0.0433083 44 | v 0.0254479 0.0811805 0.0035006 45 | v -0.00363682 -0.0835859 -0.0246063 46 | v -0.0165327 -0.0822363 -0.00511811 47 | v -0.0140171 -0.100091 0.0560269 48 | v -0.0160131 -0.0996286 0.0493014 49 | v -0.00321509 -0.087766 -0.0238844 50 | v -0.0129879 -0.0924958 0.0657119 51 | v -0.000505639 -0.0929453 0.0659531 52 | v 0.0135396 0.0926721 0.0656879 53 | v 0.0134248 -0.091927 0.0657313 54 | v -0.0192292 0.0972606 0.0505884 55 | v 0.0165582 -0.0851322 -0.00387274 56 | v 0.00349477 -0.102716 -0.00802934 57 | v 0.0238692 0.0904014 0.00436824 58 | v 0.0227078 0.0937356 0.01434 59 | v 0.0260343 0.0752976 -0.00503085 60 | v 0.0248167 0.0743775 -0.0071557 61 | v -0.00150015 -0.0458698 -0.0259248 62 | v -0.000833771 0.08026 -0.00732172 63 | v 0.0229591 0.0779014 -0.00739904 64 | v -0.0227611 0.0801744 -0.00690954 65 | v 3.18097e-05 -0.0994514 -0.0171612 66 | v -0.0166321 -0.098554 0.0547339 67 | v 0.00360213 -0.101195 -0.0126276 68 | v -0.00161673 0.0974711 0.0623073 69 | v 0.0157184 -0.0917796 0.0649125 70 | v -0.0184487 0.0920155 0.0583932 71 | v -0.000626994 -0.0879747 -0.0249616 72 | v 0.003076 -0.0879729 -0.0239787 73 | v 0.019802 0.0970111 0.020914 74 | v 0.00994155 0.100035 0.0583408 75 | v 0.0171295 0.0990672 0.0543052 76 | v -0.000314131 0.0946153 0.00757466 77 | v -1.59471e-05 0.0984961 0.0270818 78 | v -0.000337323 0.0865616 -0.00416328 79 | v 0.0223143 0.08825 -0.0019332 80 | v 0.022377 0.0833552 -0.00552611 81 | v -0.021325 0.0909269 0.000979802 82 | v -0.0227328 0.0854345 -0.00412033 83 | v -0.0244953 0.0858923 -0.00183273 84 | v 0.00184279 -0.0840023 -0.0255249 85 | v -0.0246502 0.076668 -0.00693213 86 | v 0.0131387 -0.0940629 0.0646832 87 | v -0.00932387 -0.0999826 0.0584892 88 | v -0.0190668 0.0976971 0.0246275 89 | v -0.00449439 0.100426 0.0581191 90 | v -0.0146231 0.100168 0.0557349 91 | v 0.0158049 -0.0994163 0.0549703 92 | v 0.0213426 0.0943331 0.00894201 93 | v -0.000173406 0.090995 0.000576784 94 | v 0.0214829 0.0917947 0.00268413 95 | v 0.0245152 0.0817026 -0.00505142 96 | v 0.0247294 0.0857401 -0.00123169 97 | v -0.0206576 0.0946679 0.00953798 98 | v 0.00119059 -0.100301 0.0586231 99 | v 0.000469602 -0.0966559 0.0630784 100 | v 0.0153969 0.0929056 0.0645563 101 | v -0.000867829 -0.0825485 -0.0258702 102 | v -0.0235558 0.0911663 0.00460792 103 | v -0.014617 -0.0934417 0.0645 104 | v -0.0230261 0.0928969 0.00987686 105 | v -0.0218221 0.0954417 0.0217564 106 | v -0.0181926 0.0995179 0.0438142 107 | v -0.0160455 0.0932093 0.0636169 108 | v -0.0169948 0.0993629 0.0541148 109 | 110 | # 0 UV coordinates 111 | 112 | # 200 vertex normals 113 | vn 0.96934 0.00103808 0.245721 114 | vn -0.986759 -0.159734 -0.0281361 115 | vn -0.997162 0.0697563 -0.0283202 116 | vn 0.986571 -0.160626 -0.0296212 117 | vn 0.99137 -0.125585 0.0376046 118 | vn 0.972565 0.0101093 0.232413 119 | vn -0.981257 -0.166939 -0.096261 120 | vn -0.991092 -0.129756 0.0299978 121 | vn -0.984842 -0.16507 -0.0532708 122 | vn 0.303856 -0.952595 -0.0153173 123 | vn -0.745916 -0.631674 -0.211181 124 | vn -0.996795 0.0769815 0.0217643 125 | vn -0.992516 0.0633187 -0.104418 126 | vn -0.044276 0.241169 0.969473 127 | vn -0.763533 -0.00240486 0.645764 128 | vn 0.98594 -0.162885 -0.0372967 129 | vn 0.986849 -0.0650596 0.147976 130 | vn 0.991549 -0.115042 0.0599665 131 | vn 0.203398 -0.97883 0.0228453 132 | vn 0.516573 0.854926 0.0474658 133 | vn 0.587131 0.00352045 -0.809484 134 | vn 0.99247 0.0777169 0.094674 135 | vn -0.832137 -0.113798 -0.542768 136 | vn -0.990867 -0.10289 0.0871544 137 | vn -0.24667 -0.969077 0.00656585 138 | vn -0.796752 -0.375025 -0.473859 139 | vn -0.0190316 -2.76701e-05 0.999819 140 | vn -0.0193168 -7.80837e-06 0.999813 141 | vn 0.0200855 -9.11851e-05 0.999798 142 | vn 0.0159035 0.000225346 0.999874 143 | vn -0.991348 0.0773534 0.106043 144 | vn 0.846324 -0.531423 -0.0364002 145 | vn 0.838336 -0.119317 -0.531936 146 | vn 0.713391 -0.685355 -0.146159 147 | vn 0.752915 -0.0507794 -0.656156 148 | vn 0.962439 0.234445 0.136915 149 | vn 0.98673 0.0540529 0.153111 150 | vn 0.984464 0.162241 0.0671482 151 | vn 0.963684 0.258201 0.0681518 152 | vn 0.988283 0.13579 0.0696969 153 | vn 0.992401 0.0632947 -0.105521 154 | vn 0.997132 0.0735636 0.0178061 155 | vn 0.997125 0.0744552 -0.0141125 156 | vn 0.525671 0.0308018 -0.85013 157 | vn 0.0112429 0.145846 -0.989244 158 | vn -0.0191625 0.145985 -0.989101 159 | vn 0.295801 0.090268 -0.950975 160 | vn -0.753521 -0.0512984 -0.655419 161 | vn -0.557064 -0.525003 -0.643468 162 | vn -0.826525 -0.175737 -0.534765 163 | vn -0.815256 -0.315571 -0.485564 164 | vn -0.947514 -0.156066 -0.279037 165 | vn -0.93384 -0.292644 0.205677 166 | vn 0.168928 -0.868066 -0.466825 167 | vn -0.713161 -0.698683 0.0569532 168 | vn -0.304509 -0.95237 -0.0162868 169 | vn 0.0219418 0.621147 0.783387 170 | vn -0.00551132 0.61581 0.787876 171 | vn 0.36612 0.000413018 0.930568 172 | vn 0.336199 1.25396e-05 0.941791 173 | vn -0.969753 -7.34049e-05 0.244089 174 | vn -0.962126 0.000708185 0.272604 175 | vn -0.988229 0.0614231 0.14011 176 | vn -0.360462 -0.538401 -0.761703 177 | vn 0.829279 -0.171621 -0.53183 178 | vn 0.677571 -0.00184298 0.735455 179 | vn 0.496348 0.867083 -0.0424839 180 | vn 0.0755333 0.722595 0.687133 181 | vn 0.904977 0.383975 0.183246 182 | vn 0.0127058 0.980664 -0.195286 183 | vn 0.851811 0.0713165 -0.518972 184 | vn 0.0351954 0.591653 -0.805424 185 | vn -0.538898 0.643215 -0.543933 186 | vn 0.0777842 -0.00363624 -0.996964 187 | vn -0.19873 0.11334 -0.973479 188 | vn -0.793118 -0.605993 -0.0611343 189 | vn 0.283571 -0.958905 -0.00945907 190 | vn -0.178475 -0.865689 -0.467685 191 | vn -0.987868 0.153186 -0.0255232 192 | vn -0.206645 -0.00149425 0.978415 193 | vn -0.501132 0.000514844 0.865371 194 | vn 0.0467749 -0.445101 0.894258 195 | vn -0.0152497 -0.997215 0.0730019 196 | vn -0.0160242 0.980702 -0.194854 197 | vn -0.10472 0.777309 0.620342 198 | vn -0.0162484 0.999109 -0.0389505 199 | vn 0.812943 -0.46373 -0.352249 200 | vn 0.734943 -0.648754 -0.197427 201 | vn 0.355505 -0.889833 -0.28603 202 | vn 0.77975 -0.493229 0.385637 203 | vn 0.264343 -0.962054 0.0676396 204 | vn 0.542077 -0.664141 0.514848 205 | vn 0.470493 -0.711825 0.52148 206 | vn 0.584351 -0.807368 -0.0817933 207 | vn 0.826668 -0.548978 0.123462 208 | vn 0.873315 -0.427986 0.232701 209 | vn 0.0134981 0.821385 0.570215 210 | vn 0.481279 -0.00399798 -0.876558 211 | vn 0.0262961 0.976262 -0.21499 212 | vn 0.035393 0.991525 -0.125004 213 | vn -0.0252692 0.468427 -0.883141 214 | vn 0.029533 0.795427 -0.605329 215 | vn 0.0095104 0.447459 -0.894254 216 | vn 0.0293922 0.327461 -0.944407 217 | vn 0.0628955 0.135567 -0.98877 218 | vn -0.512379 0.0361849 -0.857997 219 | vn -0.82575 0.0709576 -0.559555 220 | vn 0.671124 0.490386 -0.555981 221 | vn -0.583104 0.00463288 -0.812385 222 | vn -0.0162994 0.980639 -0.195146 223 | vn -0.157039 0.79873 0.580834 224 | vn 0.973711 -0.16665 -0.155286 225 | vn 0.0757908 -0.76565 0.638776 226 | vn -0.0242742 0.999674 0.00785851 227 | vn 0.0265568 0.999088 0.0334344 228 | vn 0.763663 0.633795 -0.122975 229 | vn 0.59401 0.799769 0.086723 230 | vn 0.277533 0.743174 0.608825 231 | vn 0.344643 0.752738 0.560898 232 | vn 0.784743 0.463667 0.411327 233 | vn -0.0358679 0.684935 -0.72772 234 | vn 0.932801 0.220325 -0.285201 235 | vn 0.624229 0.728724 -0.281602 236 | vn -0.0116186 0.888023 -0.459652 237 | vn 0.0118944 0.888215 -0.459274 238 | vn 0.12674 0.000708284 -0.991936 239 | vn -0.412606 -0.00846907 -0.91087 240 | vn -0.798626 -0.520306 -0.302452 241 | vn -0.541514 -0.834316 0.103337 242 | vn -0.319295 -0.94743 -0.0206758 243 | vn -0.723656 -0.67023 -0.164661 244 | vn 0.024012 -0.608318 0.79333 245 | vn -0.0315557 -0.776033 0.629902 246 | vn 0.0205919 -0.997403 0.0690183 247 | vn -0.0311286 -0.997047 0.0701972 248 | vn -0.982775 0.184638 -0.00783846 249 | vn 0.216124 -0.540324 -0.813229 250 | vn 0.246085 -0.284389 -0.926588 251 | vn 0.556314 -0.528433 -0.641306 252 | vn 0.792539 -0.37877 -0.477928 253 | vn 0.880372 -0.312129 0.3571 254 | vn 0.325605 -0.451322 0.830837 255 | vn 0.101105 -0.786037 0.609856 256 | vn 0.53596 -0.156588 -0.829594 257 | vn 0.580736 0.650676 0.489251 258 | vn 0.491562 0.198884 0.847828 259 | vn 0.828341 0.380744 0.410957 260 | vn 0.035746 0.926351 -0.374962 261 | vn 0.656777 0.749488 -0.083134 262 | vn 0.720531 0.692906 -0.0267625 263 | vn 0.572813 0.248018 -0.781263 264 | vn 0.990951 0.132224 -0.0230681 265 | vn 0.985773 0.167665 0.011866 266 | vn -0.0153618 0.730516 -0.682723 267 | vn 0.0128537 0.730055 -0.683268 268 | vn -0.0185446 0.449169 -0.893255 269 | vn -0.619205 -0.779582 -0.0940023 270 | vn -0.320427 -0.88655 -0.333701 271 | vn -0.0989435 -0.715546 0.691523 272 | vn -0.0841099 -0.712852 0.696252 273 | vn -0.60803 -0.644894 0.463045 274 | vn -0.423761 -0.343804 0.837989 275 | vn -0.605208 0.788757 -0.107633 276 | vn -0.0174541 0.996656 -0.0798282 277 | vn -0.0193589 0.998627 -0.0486783 278 | vn -0.634294 0.640925 -0.432304 279 | vn 0.0379495 -0.163387 -0.985832 280 | vn 0.538782 0.502971 -0.675821 281 | vn 0.813644 0.191216 -0.549017 282 | vn 0.652479 0.653287 -0.384041 283 | vn 0.717815 0.58535 -0.37697 284 | vn -0.286085 -0.763532 0.578942 285 | vn -0.0374327 -0.618147 0.785171 286 | vn -0.709079 -0.37258 0.598657 287 | vn -0.878489 0.351219 0.323886 288 | vn -0.890816 0.299973 0.341268 289 | vn -0.868133 0.372523 0.327981 290 | vn -0.605163 0.772391 -0.192849 291 | vn -0.984555 0.156402 0.0786764 292 | vn -0.982298 0.176886 0.06166 293 | vn -0.981595 0.187328 0.0371542 294 | vn -0.44589 0.832394 -0.329094 295 | vn -0.363723 0.729882 0.578773 296 | vn -0.575721 0.322294 0.751446 297 | vn 0.442358 0.333164 -0.832659 298 | vn -0.70625 0.351573 -0.614497 299 | vn -0.654528 0.356931 -0.666478 300 | vn -0.838844 0.274101 -0.47033 301 | vn -0.354702 0.933343 0.0552966 302 | vn -0.561743 0.820557 -0.105505 303 | vn -0.851741 0.52214 0.0436597 304 | vn -0.759618 0.642942 0.0980105 305 | vn -0.0360333 0.916716 -0.39791 306 | vn -0.560808 0.66826 0.488798 307 | vn -0.414234 0.480837 0.772791 308 | vn -0.390321 -0.168871 -0.905059 309 | vn -0.752648 -0.506645 0.420514 310 | vn -0.029743 0.995213 -0.0930902 311 | vn -0.346496 -0.193469 -0.917884 312 | vn -0.602128 0.796943 -0.0481963 313 | 314 | # Mesh '' with 200 faces 315 | g 316 | usemtl DefaultMaterial 317 | f 1//1 2//1 3//1 318 | f 4//2 5//2 6//2 319 | f 7//3 6//3 8//3 320 | f 9//4 10//4 11//4 321 | f 10//5 3//5 11//5 322 | f 12//6 1//6 3//6 323 | f 13//7 6//7 14//7 324 | f 8//8 6//8 5//8 325 | f 4//9 6//9 13//9 326 | f 15//10 16//10 17//10 327 | f 18//11 19//11 13//11 328 | f 20//12 7//12 8//12 329 | f 21//13 6//13 7//13 330 | f 22//14 23//14 24//14 331 | f 25//15 26//15 27//15 332 | f 28//16 10//16 9//16 333 | f 2//17 29//17 3//17 334 | f 29//18 11//18 3//18 335 | f 30//19 16//19 15//19 336 | f 31//20 32//20 33//20 337 | f 34//21 35//21 36//21 338 | f 37//22 3//22 38//22 339 | f 6//23 39//23 40//23 340 | f 25//24 8//24 5//24 341 | f 41//25 42//25 16//25 342 | f 18//26 14//26 43//26 343 | f 22//27 24//27 44//27 344 | f 44//28 45//28 22//28 345 | f 46//29 22//29 45//29 346 | f 45//30 47//30 46//30 347 | f 20//31 8//31 48//31 348 | f 9//32 11//32 15//32 349 | f 36//33 10//33 49//33 350 | f 50//34 28//34 9//34 351 | f 10//35 36//35 35//35 352 | f 12//36 37//36 32//36 353 | f 37//37 12//37 3//37 354 | f 37//38 38//38 51//38 355 | f 37//39 52//39 32//39 356 | f 52//40 37//40 51//40 357 | f 10//41 35//41 53//41 358 | f 10//42 53//42 38//42 359 | f 10//43 38//43 3//43 360 | f 54//44 35//44 34//44 361 | f 55//45 56//45 57//45 362 | f 56//46 55//46 58//46 363 | f 57//47 54//47 34//47 364 | f 39//48 6//48 21//48 365 | f 59//49 18//49 43//49 366 | f 40//50 39//50 43//50 367 | f 14//51 40//51 43//51 368 | f 14//52 6//52 40//52 369 | f 60//53 25//53 5//53 370 | f 59//54 61//54 17//54 371 | f 42//55 60//55 5//55 372 | f 16//56 42//56 17//56 373 | f 62//57 22//57 46//57 374 | f 22//58 62//58 23//58 375 | f 1//59 46//59 63//59 376 | f 47//60 63//60 46//60 377 | f 25//61 64//61 8//61 378 | f 64//62 25//62 27//62 379 | f 64//63 48//63 8//63 380 | f 65//64 59//64 43//64 381 | f 66//65 36//65 49//65 382 | f 63//66 2//66 1//66 383 | f 33//67 32//67 67//67 384 | f 68//68 62//68 46//68 385 | f 32//69 69//69 12//69 386 | f 70//70 71//70 67//70 387 | f 53//71 35//71 54//71 388 | f 72//72 73//72 74//72 389 | f 75//73 76//73 77//73 390 | f 78//74 55//74 34//74 391 | f 55//75 79//75 58//75 392 | f 4//76 42//76 5//76 393 | f 50//77 15//77 17//77 394 | f 59//78 17//78 18//78 395 | f 7//79 20//79 77//79 396 | f 24//80 26//80 44//80 397 | f 27//81 26//81 24//81 398 | f 45//82 80//82 47//82 399 | f 41//83 16//83 81//83 400 | f 82//84 71//84 70//84 401 | f 62//85 83//85 23//85 402 | f 33//86 84//86 83//86 403 | f 49//87 28//87 61//87 404 | f 61//88 28//88 50//88 405 | f 61//89 50//89 17//89 406 | f 63//90 85//90 29//90 407 | f 85//91 30//91 15//91 408 | f 80//92 85//92 63//92 409 | f 85//93 80//93 30//93 410 | f 9//94 15//94 50//94 411 | f 85//95 15//95 11//95 412 | f 11//96 29//96 85//96 413 | f 83//97 62//97 68//97 414 | f 34//98 36//98 78//98 415 | f 70//99 67//99 86//99 416 | f 71//100 33//100 67//100 417 | f 58//101 76//101 72//101 418 | f 73//102 87//102 88//102 419 | f 72//103 74//103 56//103 420 | f 56//104 74//104 57//104 421 | f 34//105 55//105 57//105 422 | f 21//106 79//106 55//106 423 | f 21//107 7//107 79//107 424 | f 89//108 73//108 90//108 425 | f 39//109 21//109 55//109 426 | f 91//110 82//110 70//110 427 | f 84//111 23//111 83//111 428 | f 28//112 49//112 10//112 429 | f 92//113 80//113 93//113 430 | f 31//114 33//114 68//114 431 | f 68//115 33//115 83//115 432 | f 51//116 86//116 52//116 433 | f 69//117 32//117 31//117 434 | f 46//118 94//118 68//118 435 | f 94//119 31//119 68//119 436 | f 94//120 12//120 69//120 437 | f 76//121 75//121 72//121 438 | f 90//122 53//122 89//122 439 | f 86//123 51//123 88//123 440 | f 75//124 70//124 87//124 441 | f 87//125 70//125 88//125 442 | f 95//126 55//126 78//126 443 | f 39//127 55//127 95//127 444 | f 14//128 18//128 13//128 445 | f 42//129 41//129 60//129 446 | f 19//130 17//130 42//130 447 | f 19//131 4//131 13//131 448 | f 45//132 93//132 80//132 449 | f 92//133 93//133 81//133 450 | f 16//134 30//134 92//134 451 | f 92//135 81//135 16//135 452 | f 96//136 77//136 20//136 453 | f 66//137 59//137 65//137 454 | f 65//138 78//138 66//138 455 | f 59//139 66//139 61//139 456 | f 49//140 61//140 66//140 457 | f 2//141 63//141 29//141 458 | f 80//142 63//142 47//142 459 | f 80//143 92//143 30//143 460 | f 78//144 36//144 66//144 461 | f 94//145 69//145 31//145 462 | f 94//146 46//146 1//146 463 | f 12//147 94//147 1//147 464 | f 70//148 86//148 88//148 465 | f 67//149 52//149 86//149 466 | f 52//150 67//150 32//150 467 | f 57//151 89//151 54//151 468 | f 53//152 90//152 38//152 469 | f 90//153 51//153 38//153 470 | f 75//154 87//154 72//154 471 | f 72//155 87//155 73//155 472 | f 56//156 58//156 72//156 473 | f 42//157 4//157 19//157 474 | f 19//158 18//158 17//158 475 | f 97//159 81//159 44//159 476 | f 81//160 93//160 44//160 477 | f 41//161 97//161 60//161 478 | f 26//162 97//162 44//162 479 | f 98//163 99//163 91//163 480 | f 100//164 33//164 71//164 481 | f 84//165 33//165 100//165 482 | f 96//166 75//166 77//166 483 | f 95//167 78//167 65//167 484 | f 73//168 89//168 74//168 485 | f 53//169 54//169 89//169 486 | f 73//170 88//170 51//170 487 | f 90//171 73//171 51//171 488 | f 41//172 81//172 97//172 489 | f 44//173 93//173 45//173 490 | f 25//174 97//174 26//174 491 | f 101//175 48//175 64//175 492 | f 64//176 27//176 101//176 493 | f 102//177 48//177 101//177 494 | f 96//178 98//178 91//178 495 | f 48//179 99//179 20//179 496 | f 99//180 98//180 20//180 497 | f 98//181 96//181 20//181 498 | f 96//182 91//182 75//182 499 | f 84//183 101//183 23//183 500 | f 27//184 24//184 101//184 501 | f 89//185 57//185 74//185 502 | f 77//186 76//186 79//186 503 | f 79//187 76//187 58//187 504 | f 79//188 7//188 77//188 505 | f 102//189 84//189 100//189 506 | f 91//190 99//190 82//190 507 | f 48//191 100//191 99//191 508 | f 100//192 48//192 102//192 509 | f 75//193 91//193 70//193 510 | f 84//194 102//194 101//194 511 | f 24//195 23//195 101//195 512 | f 43//196 95//196 65//196 513 | f 25//197 60//197 97//197 514 | f 82//198 100//198 71//198 515 | f 43//199 39//199 95//199 516 | f 100//200 82//200 99//200 517 | 518 | -------------------------------------------------------------------------------- /meshes/panda/collision/link0.obj: -------------------------------------------------------------------------------- 1 | # File produced by Open Asset Import Library (http://www.assimp.sf.net) 2 | # (assimp v3.1.187496374) 3 | 4 | mtllib link0.obj.mtl 5 | 6 | # 102 vertex positions 7 | v -0.00122674 -0.0946137 -3.24928e-05 8 | v 0.0710809 0.00844602 0.00133993 9 | v 0.071567 -0.00127396 0.0013494 10 | v -0.00051723 0.0946704 -6.42576e-06 11 | v 0.0706646 -0.0115626 0.00133336 12 | v -0.135131 -0.0658707 0.00751985 13 | v -0.136305 -0.0659457 3.26395e-07 14 | v -0.131625 -0.0687992 -5.27309e-07 15 | v 0.0543353 -0.0469489 0.00104792 16 | v 0.0619449 -0.0359785 0.00118116 17 | v 0.0673593 -0.0245271 0.00127621 18 | v 0.0526517 -0.0163561 0.14 19 | v 0.0548547 0.00447165 0.14 20 | v -0.0549666 0.00345713 0.14 21 | v 0.0391015 0.0387489 0.14 22 | v 0.00777804 -0.0910717 0.00846191 23 | v 0.0395665 -0.0384696 0.140003 24 | v -0.029337 -0.0466451 0.140001 25 | v 0.000349224 -0.0550819 0.14 26 | v 0.0686186 0.0208178 0.00129774 27 | v 0.0635871 0.0329931 0.00120988 28 | v 0.0525783 0.048771 0.00101755 29 | v 0.05859 0.0412413 0.00112268 30 | v 0.0509475 0.0207886 0.14 31 | v -0.0218528 0.0506849 0.14 32 | v -0.0317059 0.0450099 0.14 33 | v 0.0317161 0.0450507 0.14 34 | v -0.0400853 0.0378337 0.14 35 | v -0.0477037 0.0275963 0.14 36 | v 0.00485769 0.0549582 0.14 37 | v 0.0474762 -0.0279259 0.14 38 | v -0.00886536 0.0543586 0.140002 39 | v 0.0276805 -0.0476799 0.14 40 | v -0.054766 -0.0054659 0.14 41 | v -0.0528838 -0.015585 0.14 42 | v -0.122615 0.00563594 0.0611487 43 | v -0.122711 -0.00614431 0.060957 44 | v 0.0143701 -0.0532489 0.139999 45 | v -0.071675 -0.0756205 0.0575204 46 | v -0.111235 -0.0474773 0.0590551 47 | v -0.137824 -0.0624363 0.00755269 48 | v -0.133699 0.0669321 0.00741502 49 | v -0.13583 0.0663151 8.33834e-07 50 | v -0.136293 0.0646171 0.00756638 51 | v -0.131612 0.0688472 7.4968e-07 52 | v 0.0031716 0.0933497 0.00863144 53 | v 0.00408648 0.0939818 0.000170711 54 | v 0.0462474 0.0300326 0.14 55 | v 0.0548768 -0.00456585 0.14 56 | v -0.129159 0.0686836 0.00744486 57 | v -0.0528609 0.0157105 0.14 58 | v 0.0200202 0.0514462 0.139999 59 | v 0.00648893 0.0735192 0.08108 60 | v 0.00826788 -0.0918247 0.00024289 61 | v -0.0464371 -0.0299037 0.14 62 | v -0.140043 0.0607227 -1.6486e-07 63 | v 0.00769447 0.0922715 0.000234291 64 | v -0.00159938 0.0936322 0.00849181 65 | v 0.00734398 0.0914466 0.00831775 66 | v -0.148808 -0.0420547 -7.21858e-08 67 | v -0.149244 -0.0371861 0.00781712 68 | v -0.152578 -0.0248176 1.68373e-07 69 | v 0.00907648 0.0737151 0.0784549 70 | v -0.121673 -0.0147367 0.0614178 71 | v 0.00678171 -0.0735316 0.0809757 72 | v -0.130951 -0.0681401 0.00766805 73 | v -0.0189172 -0.051755 0.14 74 | v -0.00908423 -0.0542971 0.14 75 | v -0.0658985 -0.0765477 0.0589793 76 | v -0.0376956 -0.0401377 0.14 77 | v -0.143472 -0.0548617 -4.38612e-08 78 | v -0.145452 -0.0485961 0.00768247 79 | v -0.1203 -0.0235449 0.0615099 80 | v -0.118609 -0.03105 0.06134 81 | v -0.114761 -0.0419663 0.0601784 82 | v -0.154079 -0.00554168 -3.75503e-07 83 | v -0.152725 -0.0137992 0.00819143 84 | v -0.153166 -0.00203576 0.00835078 85 | v -0.142117 0.0555469 0.00762839 86 | v 0.0535544 0.0128185 0.14 87 | v -0.109983 0.0486112 0.0588796 88 | v 0.00366946 -0.0932492 0.00847566 89 | v 0.00349566 -0.0942157 0.000177738 90 | v 0.00906588 -0.073708 0.0785962 91 | v -0.117004 -0.0366378 0.0608364 92 | v -0.151587 -0.0248333 0.00804774 93 | v -0.15241 0.0258275 -1.09161e-08 94 | v -0.153841 0.0105757 0 95 | v -0.15202 0.0217804 0.00810954 96 | v -0.121149 0.0181378 0.0615703 97 | v -0.113238 0.0447149 0.0596848 98 | v -0.000866581 -0.0937369 0.00817823 99 | v -0.141842 -0.0559592 0.00761703 100 | v -0.149634 0.0355816 0.00786878 101 | v -0.14929 0.0402499 3.01802e-07 102 | v -0.152949 0.0100689 0.00821985 103 | v -0.145377 0.0508924 -1.27878e-07 104 | v -0.11571 0.0395945 0.0607111 105 | v -0.0231112 -0.0759725 0.0689683 106 | v -0.117233 0.035881 0.060957 107 | v -0.146172 0.0467529 0.00770437 108 | v -0.119414 0.0287903 0.0611397 109 | 110 | # 0 UV coordinates 111 | 112 | # 200 vertex normals 113 | vn 0.0190098 -2.30831e-05 -0.999819 114 | vn 0.0188816 6.69136e-05 -0.999822 115 | vn 0.0191344 -0.000120273 -0.999817 116 | vn -0.518479 -0.850405 0.0893954 117 | vn 0.0222843 -0.00331509 -0.999746 118 | vn 0.0205047 -0.00139704 -0.999789 119 | vn 7.25974e-07 -5.81537e-06 1 120 | vn 9.85433e-07 -5.68784e-06 1 121 | vn 0.991829 0.0497189 0.11749 122 | vn 0.692904 -0.711464 0.11706 123 | vn 4.45103e-05 3.61862e-05 1 124 | vn 0.0193277 0.000437566 -0.999813 125 | vn 0.0199677 0.0010368 -0.9998 126 | vn 0.0232843 0.0046319 -0.999718 127 | vn 0.0210964 0.0022106 -0.999775 128 | vn 0.0197075 -0.000616531 -0.999806 129 | vn 6.42989e-05 2.18738e-05 1 130 | vn 0.91755 0.380023 0.116978 131 | vn 3.35708e-05 -1.87847e-05 1 132 | vn -7.63878e-06 1.53928e-05 1 133 | vn -8.50133e-06 1.24836e-05 1 134 | vn 8.62742e-06 2.71648e-06 1 135 | vn 4.31916e-06 1.10982e-05 1 136 | vn 0.000248513 -0.00151077 0.999999 137 | vn -0.000100683 -0.000160507 1 138 | vn 0.000441559 2.26903e-05 1 139 | vn -0.759017 -0.00436697 0.651056 140 | vn -0.758153 -0.0170388 0.651854 141 | vn -4.08147e-05 -6.51499e-05 1 142 | vn 3.63574e-05 2.96612e-05 1 143 | vn -0.488489 -0.714003 0.501575 144 | vn -0.779928 -0.612675 0.127831 145 | vn -0.6563 0.74377 0.126791 146 | vn -0.51319 0.854867 0.0764032 147 | vn 0.143998 0.98555 0.0891981 148 | vn 6.6605e-05 0.00021454 1 149 | vn 0.794096 -0.595678 0.120749 150 | vn 0.815277 -0.566949 0.117862 151 | vn 0.897326 -0.425249 0.118194 152 | vn 0.906239 -0.40539 0.119958 153 | vn 0.848855 0.515505 0.117047 154 | vn 0.992823 0.00242477 0.11957 155 | vn 0.000137166 -1.78568e-05 1 156 | vn -0.256878 0.90791 0.331229 157 | vn -4.88056e-05 2.05051e-05 1 158 | vn 1.50367e-05 -7.30032e-06 1 159 | vn -3.22116e-05 6.85885e-05 1 160 | vn -0.0415945 0.953296 0.29916 161 | vn 0.0339572 -0.0169327 -0.99928 162 | vn -9.01903e-05 -3.23136e-05 1 163 | vn -0.795774 0.599474 0.0858742 164 | vn 0.423964 0.898605 0.112979 165 | vn 0.047941 0.0640793 -0.996793 166 | vn 0.0548988 0.990257 0.12797 167 | vn 0.0494285 0.963916 0.261577 168 | vn 0.0344071 0.0175091 -0.999255 169 | vn 0.691328 0.715168 0.102958 170 | vn 0.691451 0.712649 0.118438 171 | vn -0.973898 -0.213048 0.0783147 172 | vn 7.42399e-05 3.32698e-05 1 173 | vn 0.884937 0.449942 0.120157 174 | vn 0.989315 -0.0869511 0.117026 175 | vn 0.962281 -0.245852 0.116503 176 | vn -0.192564 0.977601 0.0849446 177 | vn -0.191831 0.976828 0.0949088 178 | vn -0.123193 0.952732 0.277713 179 | vn -0.441485 0.766549 0.466362 180 | vn 0.467327 0.85467 0.22615 181 | vn 0.692847 -0.713157 0.106629 182 | vn -0.756883 -0.0565346 0.651101 183 | vn 0.123333 -0.943265 0.308285 184 | vn -0.493923 -0.720807 0.48629 185 | vn -0.477017 -0.8711 0.116787 186 | vn -0.44611 -0.794944 0.411157 187 | vn -6.11448e-05 -0.000331755 1 188 | vn -1.43156e-05 -8.03482e-05 1 189 | vn -0.228986 -0.885719 0.403816 190 | vn -0.608389 -0.519659 0.599848 191 | vn -0.920452 -0.383492 0.0755124 192 | vn -0.736949 -0.180808 0.651318 193 | vn -0.611742 -0.514007 0.601306 194 | vn 0.419302 0.901141 0.110141 195 | vn -0.991437 -0.0387918 0.124694 196 | vn -0.993276 -0.0773118 0.0861707 197 | vn -0.833082 0.535892 0.137092 198 | vn 8.17296e-05 2.2162e-05 1 199 | vn 0.943552 0.308615 0.120276 200 | vn 0.981039 0.152834 0.119183 201 | vn 0.973953 0.194242 0.116982 202 | vn 0.767761 0.629431 0.119836 203 | vn 0.775121 0.620511 0.118969 204 | vn 0.975511 -0.184098 0.120356 205 | vn -0.334118 0.859344 0.38716 206 | vn -0.186878 0.944088 0.271613 207 | vn -0.461627 0.746886 0.478605 208 | vn 0.418676 0.882839 0.21285 209 | vn 0.516842 0.832916 0.197804 210 | vn 0.465813 -0.878241 0.10822 211 | vn 0.444917 -0.890581 0.0944139 212 | vn 0.0505572 -0.0737673 -0.995993 213 | vn 0.458814 -0.864421 0.205587 214 | vn 0.516064 -0.83361 0.196908 215 | vn -0.387155 -0.789577 0.476109 216 | vn -0.244693 -0.878338 0.410666 217 | vn -0.208468 -0.972704 0.101918 218 | vn -0.193464 -0.977355 0.0857284 219 | vn -0.182203 -0.978184 0.0997879 220 | vn -0.519874 -0.667682 0.532852 221 | vn -0.000155222 -6.31553e-05 1 222 | vn -4.55781e-05 -2.14887e-05 1 223 | vn -0.773654 -0.387569 0.501247 224 | vn -0.836842 -0.541097 0.0831258 225 | vn -0.938711 -0.313668 0.142944 226 | vn 0.642112 0.752523 0.146293 227 | vn -0.975003 -0.187197 0.119691 228 | vn -0.98721 -0.103388 0.121358 229 | vn -0.991212 0.0930191 0.0940533 230 | vn -0.745994 0.128207 0.653495 231 | vn -0.357321 0.923722 0.138052 232 | vn -2.44058e-05 1.82076e-05 1 233 | vn -0.562279 0.66248 0.494937 234 | vn -0.609088 0.612822 0.50345 235 | vn 0.183429 0.950262 0.251704 236 | vn 0.21534 0.929691 0.298837 237 | vn 0.229004 0.927667 0.294942 238 | vn 0.604019 -0.779541 0.165763 239 | vn 0.230026 -0.929068 0.289689 240 | vn 0.372231 -0.889715 0.264293 241 | vn -0.171199 -0.978844 0.112047 242 | vn 0.0790207 -0.991596 0.102437 243 | vn -0.774998 -0.384377 0.501629 244 | vn -0.890148 -0.437507 0.127373 245 | vn -0.67661 -0.535887 0.505 246 | vn -0.844574 -0.525041 0.105012 247 | vn -0.695542 -0.313148 0.646653 248 | vn -0.714122 -0.263551 0.648514 249 | vn -0.974069 0.210719 0.082385 250 | vn -0.866667 0.0208868 0.498449 251 | vn -0.993956 0.0146296 0.108802 252 | vn -0.994723 0.0188777 0.100843 253 | vn -0.990466 0.0795982 0.112429 254 | vn -0.875827 0.475205 0.0843008 255 | vn -0.648594 0.437886 0.622561 256 | vn -0.631999 0.470323 0.615934 257 | vn -0.542549 0.633495 0.551656 258 | vn -0.569254 0.593159 0.569309 259 | vn -0.854631 -0.127937 0.503228 260 | vn 0.187376 -0.949866 0.250288 261 | vn -0.0299751 -0.962324 0.270247 262 | vn -0.733474 -0.46004 0.500378 263 | vn -0.819413 -0.278244 0.501142 264 | vn -0.818885 -0.280329 0.500842 265 | vn -0.840131 -0.200724 0.503876 266 | vn -0.865477 -0.0010483 0.500948 267 | vn -0.861767 -0.077237 0.501391 268 | vn -0.734892 0.455474 0.502471 269 | vn -0.789187 0.35685 0.499842 270 | vn -0.899886 0.416094 0.130652 271 | vn -0.934904 0.343772 0.0881805 272 | vn -0.750321 -0.110129 0.651836 273 | vn -0.744296 -0.138475 0.653336 274 | vn -0.0486186 -0.96337 0.263731 275 | vn -0.0569915 -0.952558 0.298973 276 | vn -0.0786935 -0.945844 0.314939 277 | vn 0.0865387 -0.962264 0.257989 278 | vn 0.0988769 -0.988653 0.113084 279 | vn -0.040165 -0.954927 0.294112 280 | vn -0.679455 -0.364641 0.636692 281 | vn -0.676925 -0.535527 0.504959 282 | vn -0.860556 -0.0952615 0.500368 283 | vn -0.866101 -0.0391639 0.498333 284 | vn -0.848661 -0.170347 0.500757 285 | vn -0.976331 0.171097 0.132301 286 | vn -0.784297 0.365988 0.500931 287 | vn -0.743675 0.147478 0.652072 288 | vn -0.75636 0.0667582 0.650741 289 | vn -0.726694 0.470061 0.500957 290 | vn -0.946042 0.295169 0.133715 291 | vn -0.699993 0.303725 0.646344 292 | vn -0.690574 0.326044 0.645603 293 | vn -0.722223 0.238827 0.64912 294 | vn -0.862635 0.0731211 0.500513 295 | vn -0.860436 0.0839585 0.502594 296 | vn -0.823144 0.266065 0.501641 297 | vn -0.850508 0.155797 0.502359 298 | vn -0.850275 0.158766 0.501823 299 | vn -0.824425 0.262885 0.501214 300 | vn -0.000104827 0.000138107 -1 301 | vn -6.4345e-05 4.8788e-05 -1 302 | vn -0.000255153 -5.05889e-05 -1 303 | vn 8.56579e-06 1.35717e-06 -1 304 | vn 3.45225e-06 -5.63502e-06 -1 305 | vn 0.000304041 -4.54974e-06 -1 306 | vn 0.0004587 -0.000166978 -1 307 | vn -4.30629e-05 3.84989e-05 -1 308 | vn -0.000206776 -3.99625e-05 -1 309 | vn -7.87823e-05 -3.27836e-06 -1 310 | vn -0.000409956 0.000110369 -1 311 | vn 6.31049e-05 7.3988e-06 -1 312 | vn -0.0003035 2.77655e-05 -1 313 | 314 | # Mesh '' with 200 faces 315 | g 316 | usemtl DefaultMaterial 317 | f 1//1 2//1 3//1 318 | f 4//2 2//2 1//2 319 | f 3//3 5//3 1//3 320 | f 6//4 7//4 8//4 321 | f 9//5 1//5 10//5 322 | f 1//6 11//6 10//6 323 | f 12//7 13//7 14//7 324 | f 13//7 15//8 14//7 325 | f 2//9 13//9 3//9 326 | f 16//10 9//10 17//10 327 | f 14//11 18//11 19//11 328 | f 20//12 2//12 4//12 329 | f 21//13 20//13 4//13 330 | f 22//14 23//14 4//14 331 | f 23//15 21//15 4//15 332 | f 1//16 5//16 11//16 333 | f 13//17 24//17 15//17 334 | f 20//18 21//18 24//18 335 | f 25//19 26//19 14//19 336 | f 15//20 27//20 14//20 337 | f 28//21 29//21 14//20 338 | f 14//22 30//22 25//22 339 | f 14//22 31//23 12//23 340 | f 32//24 25//24 30//24 341 | f 33//25 17//25 14//25 342 | f 34//26 35//26 14//26 343 | f 36//27 37//27 14//27 344 | f 14//28 37//28 34//28 345 | f 38//29 33//29 14//29 346 | f 19//30 38//30 14//30 347 | f 39//31 18//31 40//31 348 | f 7//32 6//32 41//32 349 | f 42//33 43//33 44//33 350 | f 45//34 43//34 42//34 351 | f 4//35 46//35 47//35 352 | f 17//36 31//36 14//36 353 | f 9//37 31//37 17//37 354 | f 10//38 31//38 9//38 355 | f 11//39 31//39 10//39 356 | f 12//40 31//40 11//40 357 | f 21//41 23//41 48//41 358 | f 13//42 49//42 3//42 359 | f 12//43 49//43 13//43 360 | f 25//44 32//44 50//44 361 | f 14//45 29//45 51//45 362 | f 52//46 30//46 14//46 363 | f 27//47 52//47 14//47 364 | f 53//48 32//48 30//48 365 | f 9//49 54//49 1//49 366 | f 35//50 55//50 14//50 367 | f 56//51 44//51 43//51 368 | f 57//52 47//52 46//52 369 | f 4//53 47//53 57//53 370 | f 58//54 46//54 4//54 371 | f 53//55 46//55 58//55 372 | f 57//56 22//56 4//56 373 | f 57//57 59//57 22//57 374 | f 59//58 15//58 22//58 375 | f 60//59 61//59 62//59 376 | f 24//60 48//60 15//60 377 | f 24//61 21//61 48//61 378 | f 49//62 5//62 3//62 379 | f 5//63 12//63 11//63 380 | f 50//64 4//64 45//64 381 | f 4//65 50//65 58//65 382 | f 32//66 53//66 58//66 383 | f 42//67 26//67 25//67 384 | f 52//68 27//68 63//68 385 | f 9//69 16//69 54//69 386 | f 37//70 64//70 34//70 387 | f 38//71 19//71 65//71 388 | f 40//72 6//72 39//72 389 | f 8//73 66//73 6//73 390 | f 6//74 66//74 39//74 391 | f 18//75 67//75 19//75 392 | f 68//76 19//76 67//76 393 | f 67//77 69//77 68//77 394 | f 40//78 70//78 55//78 395 | f 71//79 72//79 60//79 396 | f 73//80 74//80 35//80 397 | f 55//81 75//81 40//81 398 | f 57//82 46//82 59//82 399 | f 76//83 77//83 78//83 400 | f 62//84 77//84 76//84 401 | f 79//85 44//85 56//85 402 | f 80//86 24//86 13//86 403 | f 24//87 80//87 20//87 404 | f 2//88 80//88 13//88 405 | f 20//89 80//89 2//89 406 | f 15//90 48//90 22//90 407 | f 22//91 48//91 23//91 408 | f 49//92 12//92 5//92 409 | f 25//93 50//93 42//93 410 | f 58//94 50//94 32//94 411 | f 42//95 81//95 26//95 412 | f 59//96 46//96 63//96 413 | f 59//97 63//97 27//97 414 | f 82//98 54//98 16//98 415 | f 82//99 83//99 54//99 416 | f 54//100 83//100 1//100 417 | f 16//101 84//101 82//101 418 | f 33//102 84//102 16//102 419 | f 39//103 67//103 18//103 420 | f 69//104 67//104 39//104 421 | f 8//105 39//105 66//105 422 | f 1//106 39//106 8//106 423 | f 69//107 39//107 1//107 424 | f 40//108 18//108 70//108 425 | f 70//109 18//109 14//109 426 | f 55//110 70//110 14//110 427 | f 72//111 75//111 85//111 428 | f 7//112 41//112 71//112 429 | f 60//113 72//113 61//113 430 | f 59//114 27//114 15//114 431 | f 62//115 61//115 86//115 432 | f 86//116 77//116 62//116 433 | f 87//117 88//117 89//117 434 | f 51//118 90//118 14//118 435 | f 42//119 50//119 45//119 436 | f 14//120 26//120 28//120 437 | f 42//121 44//121 81//121 438 | f 44//122 91//122 81//122 439 | f 53//123 63//123 46//123 440 | f 52//124 53//124 30//124 441 | f 63//125 53//125 52//125 442 | f 33//126 16//126 17//126 443 | f 65//127 84//127 38//127 444 | f 33//128 38//128 84//128 445 | f 69//129 1//129 92//129 446 | f 83//130 92//130 1//130 447 | f 75//131 72//131 93//131 448 | f 93//132 72//132 71//132 449 | f 6//133 40//133 75//133 450 | f 41//134 93//134 71//134 451 | f 85//135 55//135 35//135 452 | f 74//136 85//136 35//136 453 | f 87//137 94//137 95//137 454 | f 36//138 96//138 78//138 455 | f 76//139 96//139 88//139 456 | f 78//140 96//140 76//140 457 | f 88//141 96//141 89//141 458 | f 97//142 79//142 56//142 459 | f 29//143 91//143 98//143 460 | f 28//144 91//144 29//144 461 | f 26//145 81//145 28//145 462 | f 91//146 28//146 81//146 463 | f 73//147 64//147 86//147 464 | f 65//148 82//148 84//148 465 | f 92//149 65//149 99//149 466 | f 93//150 41//150 75//150 467 | f 72//151 85//151 61//151 468 | f 61//152 85//152 74//152 469 | f 61//153 74//153 73//153 470 | f 36//154 78//154 37//154 471 | f 37//155 77//155 64//155 472 | f 98//156 91//156 79//156 473 | f 79//157 100//157 98//157 474 | f 97//158 101//158 79//158 475 | f 95//159 101//159 97//159 476 | f 64//160 73//160 34//160 477 | f 73//161 35//161 34//161 478 | f 69//162 92//162 99//162 479 | f 19//163 69//163 99//163 480 | f 68//164 69//164 19//164 481 | f 92//165 82//165 65//165 482 | f 92//166 83//166 82//166 483 | f 99//167 65//167 19//167 484 | f 85//168 75//168 55//168 485 | f 41//169 6//169 75//169 486 | f 64//170 77//170 86//170 487 | f 77//171 37//171 78//171 488 | f 86//172 61//172 73//172 489 | f 87//173 89//173 94//173 490 | f 79//174 101//174 100//174 491 | f 102//175 90//175 51//175 492 | f 36//176 14//176 90//176 493 | f 91//177 44//177 79//177 494 | f 95//178 94//178 101//178 495 | f 29//179 98//179 51//179 496 | f 100//180 51//180 98//180 497 | f 102//181 51//181 100//181 498 | f 89//182 96//182 36//182 499 | f 36//183 90//183 89//183 500 | f 101//184 102//184 100//184 501 | f 94//185 89//185 102//185 502 | f 90//186 102//186 89//186 503 | f 101//187 94//187 102//187 504 | f 4//188 1//188 87//188 505 | f 4//189 87//189 45//189 506 | f 1//190 8//190 87//190 507 | f 60//191 87//191 71//191 508 | f 56//192 87//191 97//192 509 | f 76//193 87//193 62//193 510 | f 56//194 43//194 87//194 511 | f 45//195 87//195 43//195 512 | f 8//196 7//196 87//196 513 | f 62//197 87//197 60//197 514 | f 97//198 87//198 95//198 515 | f 71//199 87//199 7//199 516 | f 88//200 87//200 76//200 517 | 518 | -------------------------------------------------------------------------------- /meshes/panda/collision/link6.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 17 3 | 4 | newmtl Face064_002_001_002_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 0.000000 0.000000 8 | Ks 0.003906 0.003906 0.003906 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Face065_002_001_002_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.000000 1.000000 0.000000 18 | Ks 0.003906 0.003906 0.003906 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | 24 | newmtl Face374_002_001_002_001.001 25 | Ns -1.960784 26 | Ka 1.000000 1.000000 1.000000 27 | Kd 1.000000 1.000000 1.000000 28 | Ks 0.003906 0.003906 0.003906 29 | Ke 0.000000 0.000000 0.000000 30 | Ni 1.000000 31 | d 1.000000 32 | illum 2 33 | 34 | newmtl Face539_002_001_002_001.001 35 | Ns -1.960784 36 | Ka 1.000000 1.000000 1.000000 37 | Kd 0.250980 0.250980 0.250980 38 | Ks 0.003906 0.003906 0.003906 39 | Ke 0.000000 0.000000 0.000000 40 | Ni 1.000000 41 | d 1.000000 42 | illum 2 43 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 44 | 45 | newmtl Part__Feature001_009_001_002_001.001 46 | Ns -1.960784 47 | Ka 1.000000 1.000000 1.000000 48 | Kd 0.250980 0.250980 0.250980 49 | Ks 0.003906 0.003906 0.003906 50 | Ke 0.000000 0.000000 0.000000 51 | Ni 1.000000 52 | d 1.000000 53 | illum 2 54 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 55 | 56 | newmtl Part__Feature002_006_001_002_001.001 57 | Ns -1.960784 58 | Ka 1.000000 1.000000 1.000000 59 | Kd 0.250980 0.250980 0.250980 60 | Ks 0.003906 0.003906 0.003906 61 | Ke 0.000000 0.000000 0.000000 62 | Ni 1.000000 63 | d 1.000000 64 | illum 2 65 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 66 | 67 | newmtl Shell002_002_001_002_001.001 68 | Ns -1.960784 69 | Ka 1.000000 1.000000 1.000000 70 | Kd 1.000000 1.000000 1.000000 71 | Ks 0.003906 0.003906 0.003906 72 | Ke 0.000000 0.000000 0.000000 73 | Ni 1.000000 74 | d 1.000000 75 | illum 2 76 | 77 | newmtl Shell003_002_001_002_001.001 78 | Ns -1.960784 79 | Ka 1.000000 1.000000 1.000000 80 | Kd 1.000000 1.000000 1.000000 81 | Ks 0.003906 0.003906 0.003906 82 | Ke 0.000000 0.000000 0.000000 83 | Ni 1.000000 84 | d 1.000000 85 | illum 2 86 | 87 | newmtl Shell004_001_001_002_001.001 88 | Ns -1.960784 89 | Ka 1.000000 1.000000 1.000000 90 | Kd 1.000000 1.000000 1.000000 91 | Ks 0.003906 0.003906 0.003906 92 | Ke 0.000000 0.000000 0.000000 93 | Ni 1.000000 94 | d 1.000000 95 | illum 2 96 | 97 | newmtl Shell005_001_001_002_001.001 98 | Ns -1.960784 99 | Ka 1.000000 1.000000 1.000000 100 | Kd 1.000000 1.000000 1.000000 101 | Ks 0.003906 0.003906 0.003906 102 | Ke 0.000000 0.000000 0.000000 103 | Ni 1.000000 104 | d 1.000000 105 | illum 2 106 | 107 | newmtl Shell006_003_002_001.001 108 | Ns -1.960784 109 | Ka 1.000000 1.000000 1.000000 110 | Kd 0.901961 0.921569 0.929412 111 | Ks 0.015625 0.015625 0.015625 112 | Ke 0.000000 0.000000 0.000000 113 | Ni 1.000000 114 | d 1.000000 115 | illum 2 116 | 117 | newmtl Shell007_002_002_001.001 118 | Ns -1.960784 119 | Ka 1.000000 1.000000 1.000000 120 | Kd 0.250000 0.250000 0.250000 121 | Ks 0.003906 0.003906 0.003906 122 | Ke 0.000000 0.000000 0.000000 123 | Ni 1.000000 124 | d 1.000000 125 | illum 2 126 | 127 | newmtl Shell011_002_002_001.001 128 | Ns -1.960784 129 | Ka 1.000000 1.000000 1.000000 130 | Kd 1.000000 1.000000 1.000000 131 | Ks 0.003906 0.003906 0.003906 132 | Ke 0.000000 0.000000 0.000000 133 | Ni 1.000000 134 | d 1.000000 135 | illum 2 136 | 137 | newmtl Shell012_002_002_001.001 138 | Ns -1.960784 139 | Ka 1.000000 1.000000 1.000000 140 | Kd 1.000000 1.000000 1.000000 141 | Ks 0.003906 0.003906 0.003906 142 | Ke 0.000000 0.000000 0.000000 143 | Ni 1.000000 144 | d 1.000000 145 | illum 2 146 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 147 | 148 | newmtl Shell_003_001_002_001.001 149 | Ns -1.960784 150 | Ka 1.000000 1.000000 1.000000 151 | Kd 0.250980 0.250980 0.250980 152 | Ks 0.003906 0.003906 0.003906 153 | Ke 0.000000 0.000000 0.000000 154 | Ni 1.000000 155 | d 1.000000 156 | illum 2 157 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 158 | 159 | newmtl Union001_001_001_002_001.001 160 | Ns -1.960784 161 | Ka 1.000000 1.000000 1.000000 162 | Kd 0.039216 0.541176 0.780392 163 | Ks 0.003906 0.003906 0.003906 164 | Ke 0.000000 0.000000 0.000000 165 | Ni 1.000000 166 | d 1.000000 167 | illum 2 168 | 169 | newmtl Union_001_001_002_001.001 170 | Ns -1.960784 171 | Ka 1.000000 1.000000 1.000000 172 | Kd 0.039216 0.541176 0.780392 173 | Ks 0.003906 0.003906 0.003906 174 | Ke 0.000000 0.000000 0.000000 175 | Ni 1.000000 176 | d 1.000000 177 | illum 2 178 | -------------------------------------------------------------------------------- /meshes/panda/finger-high-quality.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | v -0.004910 0.026440 0.004058 3 | v -0.010620 0.003369 0.000252 4 | v -0.010382 0.002416 0.000015 5 | v 0.005082 0.002416 0.004058 6 | v 0.010554 0.026440 0.000015 7 | v -0.010620 0.026440 0.000015 8 | v 0.010554 0.002416 0.000015 9 | v 0.010554 0.024060 0.004772 10 | v -0.010620 0.010981 0.004772 11 | v 0.010554 0.010981 0.004772 12 | v -0.010382 0.024060 0.004772 13 | v -0.004910 0.002416 0.004058 14 | v 0.005082 0.026440 0.004058 15 | v -0.010382 0.002416 0.001918 16 | v 0.010554 0.002416 0.001918 17 | v 0.010554 0.026440 0.001918 18 | v -0.010382 0.026440 0.001918 19 | v 0.010554 0.007889 0.004058 20 | v -0.010382 0.007889 0.004058 21 | v -0.010620 0.017876 0.004772 22 | v -0.010620 0.003844 0.001918 23 | v -0.010620 0.025013 0.001918 24 | f 20 11 22 25 | f 5 3 6 26 | f 3 2 6 27 | f 1 5 6 28 | f 4 3 7 29 | f 3 5 7 30 | f 7 5 8 31 | f 6 2 9 32 | f 7 8 10 33 | f 9 4 10 34 | f 8 9 10 35 | f 8 1 11 36 | f 9 8 11 37 | f 3 4 12 38 | f 4 9 12 39 | f 5 1 13 40 | f 1 8 13 41 | f 2 3 14 42 | f 3 12 14 43 | f 4 7 15 44 | f 7 10 15 45 | f 8 5 16 46 | f 5 13 16 47 | f 13 8 16 48 | f 1 6 17 49 | f 11 1 17 50 | f 10 4 18 51 | f 4 15 18 52 | f 15 10 18 53 | f 12 9 19 54 | f 9 14 19 55 | f 14 12 19 56 | f 6 9 20 57 | f 9 11 20 58 | f 9 2 21 59 | f 2 14 21 60 | f 14 9 21 61 | f 17 6 22 62 | f 11 17 22 63 | f 6 20 22 64 | o convex_1 65 | v 0.010554 0.019305 0.021186 66 | v 0.010315 0.022635 0.004774 67 | v 0.010315 0.024301 0.004774 68 | v -0.010620 0.016928 0.020472 69 | v 0.010554 0.011218 0.004776 70 | v -0.010381 0.025491 0.005963 71 | v -0.010620 0.011218 0.004776 72 | v -0.010381 0.025251 0.019758 73 | v 0.010554 0.011457 0.017855 74 | v 0.010554 0.025491 0.019046 75 | v -0.010143 0.015025 0.023329 76 | v 0.010077 0.023110 0.023329 77 | v -0.010381 0.011457 0.018093 78 | v 0.010077 0.015025 0.023329 79 | v -0.010143 0.023110 0.023329 80 | v 0.010554 0.025491 0.005963 81 | v -0.010381 0.024299 0.004776 82 | v -0.010620 0.025251 0.019520 83 | v -0.010381 0.025491 0.014286 84 | v 0.005080 0.011218 0.008581 85 | v -0.010620 0.017642 0.004776 86 | v -0.010620 0.011694 0.017855 87 | v 0.010315 0.023585 0.022613 88 | v -0.010381 0.015500 0.023329 89 | v 0.010315 0.015263 0.023329 90 | v -0.001341 0.011457 0.018093 91 | v -0.010143 0.023348 0.023089 92 | v -0.010620 0.025251 0.015713 93 | v -0.010620 0.011218 0.005963 94 | v 0.010315 0.024537 0.020948 95 | v 0.010554 0.011218 0.007867 96 | v -0.010381 0.022634 0.022613 97 | v 0.010554 0.024301 0.004774 98 | v 0.010315 0.022634 0.023329 99 | v 0.010554 0.017166 0.021424 100 | v -0.004433 0.025251 0.019758 101 | f 45 52 58 102 | f 25 24 29 103 | f 24 27 29 104 | f 27 23 31 105 | f 23 27 32 106 | f 33 35 36 107 | f 34 33 36 108 | f 33 34 37 109 | f 25 28 38 110 | f 32 27 38 111 | f 28 32 38 112 | f 28 25 39 113 | f 29 26 40 114 | f 32 28 41 115 | f 30 32 41 116 | f 28 40 41 117 | f 40 30 41 118 | f 29 27 42 119 | f 25 29 43 120 | f 39 25 43 121 | f 28 39 43 122 | f 29 40 43 123 | f 26 29 44 124 | f 35 33 44 125 | f 33 37 46 126 | f 26 44 46 127 | f 44 33 46 128 | f 36 31 47 129 | f 34 36 47 130 | f 36 35 48 131 | f 31 36 48 132 | f 42 31 48 133 | f 35 42 48 134 | f 37 34 49 135 | f 30 40 49 136 | f 40 37 49 137 | f 34 45 49 138 | f 40 28 50 139 | f 28 43 50 140 | f 43 40 50 141 | f 29 42 51 142 | f 42 35 51 143 | f 44 29 51 144 | f 35 44 51 145 | f 45 32 52 146 | f 27 31 53 147 | f 42 27 53 148 | f 31 42 53 149 | f 40 26 54 150 | f 37 40 54 151 | f 46 37 54 152 | f 26 46 54 153 | f 24 25 55 154 | f 27 24 55 155 | f 25 38 55 156 | f 38 27 55 157 | f 23 32 56 158 | f 32 45 56 159 | f 45 34 56 160 | f 34 47 56 161 | f 56 47 57 162 | f 31 23 57 163 | f 47 31 57 164 | f 23 56 57 165 | f 32 30 58 166 | f 30 49 58 167 | f 49 45 58 168 | f 52 32 58 169 | o convex_2 170 | v -0.009906 0.014787 0.028802 171 | v 0.010078 0.022873 0.023805 172 | v 0.001512 0.022396 0.024757 173 | v 0.008888 0.015973 0.035938 174 | v 0.010078 0.014549 0.023567 175 | v 0.009124 0.007886 0.035938 176 | v -0.008953 0.015973 0.035938 177 | v -0.010144 0.014787 0.023329 178 | v -0.009191 0.007886 0.035460 179 | v -0.010144 0.022873 0.023329 180 | v 0.010316 0.021206 0.023329 181 | v 0.009124 0.008126 0.034748 182 | v -0.009191 0.007886 0.035938 183 | v -0.010144 0.022633 0.024282 184 | v 0.010316 0.015024 0.023329 185 | v 0.009363 0.016211 0.034985 186 | v -0.009429 0.016449 0.034272 187 | v -0.005147 0.014549 0.023567 188 | v 0.010078 0.022873 0.023329 189 | v -0.009191 0.009315 0.032844 190 | v -0.010144 0.013834 0.025947 191 | v 0.009124 0.016686 0.034748 192 | v -0.008953 0.016686 0.034748 193 | v 0.010316 0.015973 0.024045 194 | v 0.009363 0.008839 0.034032 195 | v -0.010144 0.021445 0.025472 196 | v 0.003176 0.007886 0.035222 197 | v -0.009906 0.022396 0.024757 198 | v 0.010078 0.022633 0.024282 199 | v -0.009191 0.015736 0.035938 200 | v -0.009429 0.009791 0.034032 201 | v -0.009906 0.014311 0.024045 202 | v 0.010078 0.021206 0.026185 203 | f 87 74 91 204 | f 64 62 65 205 | f 66 68 69 206 | f 64 65 71 207 | f 67 64 71 208 | f 60 68 72 209 | f 68 66 72 210 | f 63 66 73 211 | f 66 69 73 212 | f 70 63 73 213 | f 62 64 74 214 | f 66 63 76 215 | f 63 70 76 216 | f 68 60 77 217 | f 69 68 77 218 | f 60 69 77 219 | f 66 67 79 220 | f 67 71 79 221 | f 72 66 79 222 | f 65 62 80 223 | f 62 74 80 224 | f 72 65 81 225 | f 80 61 81 226 | f 65 80 81 227 | f 73 69 82 228 | f 82 74 83 229 | f 64 70 83 230 | f 70 73 83 231 | f 74 64 83 232 | f 73 82 83 233 | f 59 75 84 234 | f 75 72 84 235 | f 79 59 84 236 | f 72 79 84 237 | f 64 67 85 238 | f 70 64 85 239 | f 76 70 85 240 | f 67 78 85 241 | f 78 76 85 242 | f 61 60 86 243 | f 60 72 86 244 | f 81 61 86 245 | f 72 81 86 246 | f 60 61 87 247 | f 69 60 87 248 | f 61 80 87 249 | f 80 74 87 250 | f 71 65 88 251 | f 65 72 88 252 | f 75 71 88 253 | f 72 75 88 254 | f 75 59 89 255 | f 71 75 89 256 | f 59 79 89 257 | f 79 71 89 258 | f 67 66 90 259 | f 66 76 90 260 | f 78 67 90 261 | f 76 78 90 262 | f 82 69 91 263 | f 74 82 91 264 | f 69 87 91 265 | o convex_3 266 | v 0.001513 0.000987 0.054019 267 | v -0.009193 0.009551 0.035940 268 | v -0.009193 0.014309 0.035940 269 | v 0.009126 0.006936 0.035940 270 | v 0.006984 0.014544 0.053067 271 | v -0.008240 0.014309 0.052115 272 | v -0.008954 -0.000203 0.036177 273 | v 0.008888 -0.000203 0.050449 274 | v 0.008888 0.015499 0.035940 275 | v -0.008716 -0.000203 0.050688 276 | v 0.008888 -0.000203 0.036177 277 | v 0.009126 0.014308 0.049973 278 | v -0.005622 0.014544 0.053780 279 | v -0.005861 -0.000203 0.053780 280 | v -0.008954 0.015499 0.036177 281 | v -0.009193 0.014309 0.048782 282 | v 0.006033 -0.000203 0.053541 283 | v 0.005081 0.014544 0.054019 284 | v -0.005622 0.013118 0.054019 285 | v -0.008954 0.000035 0.049973 286 | v 0.008411 0.011692 0.051876 287 | v -0.002054 0.002891 0.035940 288 | v 0.007222 0.000750 0.053067 289 | v -0.008002 0.004556 0.052352 290 | v 0.005795 0.009551 0.054019 291 | v 0.009126 0.014308 0.035940 292 | v -0.008954 0.014071 0.050688 293 | v -0.007288 0.009313 0.053067 294 | v 0.006984 0.014309 0.053304 295 | v -0.008716 0.014544 0.050688 296 | v 0.005319 -0.000203 0.053780 297 | v -0.005622 0.007648 0.054019 298 | v 0.008649 0.014544 0.051162 299 | v 0.009126 0.011454 0.049734 300 | v -0.008002 -0.000203 0.052115 301 | v -0.008716 0.009551 0.051400 302 | v -0.008954 0.004556 0.035940 303 | v 0.009126 0.006460 0.039271 304 | v -0.009193 0.009551 0.041173 305 | v 0.008888 0.004556 0.035940 306 | v -0.001102 0.000750 0.054019 307 | v -0.008954 0.015499 0.035940 308 | v 0.008888 0.015499 0.036177 309 | v 0.008888 0.007173 0.050925 310 | v -0.003245 0.014544 0.054019 311 | v 0.004842 0.003129 0.054019 312 | v -0.007527 0.014309 0.052828 313 | v 0.007699 -0.000203 0.052352 314 | v 0.008411 0.014309 0.051876 315 | v -0.006336 0.000750 0.053541 316 | f 115 126 141 317 | f 93 94 95 318 | f 95 94 100 319 | f 98 99 101 320 | f 99 98 102 321 | f 101 99 105 322 | f 94 93 107 323 | f 106 94 107 324 | f 105 99 108 325 | f 92 109 110 326 | f 98 101 111 327 | f 93 95 113 328 | f 102 98 113 329 | f 109 92 116 330 | f 108 114 116 331 | f 95 100 117 332 | f 103 95 117 333 | f 100 103 117 334 | f 107 111 118 335 | f 97 115 119 336 | f 96 109 120 337 | f 109 116 120 338 | f 116 114 120 339 | f 97 104 121 340 | f 104 106 121 341 | f 106 107 121 342 | f 118 97 121 343 | f 107 118 121 344 | f 105 108 122 345 | f 108 116 122 346 | f 92 110 123 347 | f 110 119 123 348 | f 95 103 125 349 | f 103 99 125 350 | f 101 105 126 351 | f 126 115 127 352 | f 111 101 127 353 | f 115 97 127 354 | f 97 118 127 355 | f 118 111 127 356 | f 101 126 127 357 | f 98 93 128 358 | f 93 113 128 359 | f 113 98 128 360 | f 102 95 129 361 | f 99 102 129 362 | f 95 125 129 363 | f 125 99 129 364 | f 93 98 130 365 | f 107 93 130 366 | f 98 111 130 367 | f 111 107 130 368 | f 95 102 131 369 | f 113 95 131 370 | f 102 113 131 371 | f 122 92 132 372 | f 105 122 132 373 | f 92 123 132 374 | f 123 105 132 375 | f 100 94 133 376 | f 94 106 133 377 | f 106 100 133 378 | f 103 100 134 379 | f 100 106 134 380 | f 109 96 134 381 | f 106 109 134 382 | f 96 124 134 383 | f 124 103 134 384 | f 99 103 135 385 | f 106 104 136 386 | f 109 106 136 387 | f 104 110 136 388 | f 110 109 136 389 | f 116 92 137 390 | f 92 122 137 391 | f 122 116 137 392 | f 104 97 138 393 | f 110 104 138 394 | f 97 119 138 395 | f 119 110 138 396 | f 108 99 139 397 | f 114 108 139 398 | f 112 114 139 399 | f 99 135 139 400 | f 135 112 139 401 | f 114 112 140 402 | f 96 120 140 403 | f 120 114 140 404 | f 124 96 140 405 | f 103 124 140 406 | f 135 103 140 407 | f 112 135 140 408 | f 119 115 141 409 | f 105 123 141 410 | f 123 119 141 411 | f 126 105 141 412 | -------------------------------------------------------------------------------- /meshes/panda/finger.obj: -------------------------------------------------------------------------------- 1 | o convex_0 2 | v -0.004910 0.026440 0.004058 3 | v -0.010620 0.003369 0.000252 4 | v -0.010382 0.002416 0.000015 5 | v 0.005082 0.002416 0.004058 6 | v 0.010554 0.026440 0.000015 7 | v -0.010620 0.026440 0.000015 8 | v 0.010554 0.002416 0.000015 9 | v 0.010554 0.024060 0.004772 10 | v -0.010620 0.010981 0.004772 11 | v 0.010554 0.010981 0.004772 12 | v -0.010382 0.024060 0.004772 13 | v -0.004910 0.002416 0.004058 14 | v 0.005082 0.026440 0.004058 15 | v -0.010382 0.002416 0.001918 16 | v 0.010554 0.002416 0.001918 17 | v 0.010554 0.026440 0.001918 18 | v -0.010382 0.026440 0.001918 19 | v 0.010554 0.007889 0.004058 20 | v -0.010382 0.007889 0.004058 21 | v -0.010620 0.017876 0.004772 22 | v -0.010620 0.003844 0.001918 23 | v -0.010620 0.025013 0.001918 24 | f 20 11 22 25 | f 5 3 6 26 | f 3 2 6 27 | f 1 5 6 28 | f 4 3 7 29 | f 3 5 7 30 | f 7 5 8 31 | f 6 2 9 32 | f 7 8 10 33 | f 9 4 10 34 | f 8 9 10 35 | f 8 1 11 36 | f 9 8 11 37 | f 3 4 12 38 | f 4 9 12 39 | f 5 1 13 40 | f 1 8 13 41 | f 2 3 14 42 | f 3 12 14 43 | f 4 7 15 44 | f 7 10 15 45 | f 8 5 16 46 | f 5 13 16 47 | f 13 8 16 48 | f 1 6 17 49 | f 11 1 17 50 | f 10 4 18 51 | f 4 15 18 52 | f 15 10 18 53 | f 12 9 19 54 | f 9 14 19 55 | f 14 12 19 56 | f 6 9 20 57 | f 9 11 20 58 | f 9 2 21 59 | f 2 14 21 60 | f 14 9 21 61 | f 17 6 22 62 | f 11 17 22 63 | f 6 20 22 64 | o convex_1 65 | v 0.010554 0.019305 0.021186 66 | v 0.010315 0.022635 0.004774 67 | v 0.010315 0.024301 0.004774 68 | v -0.010620 0.016928 0.020472 69 | v 0.010554 0.011218 0.004776 70 | v -0.010381 0.025491 0.005963 71 | v -0.010620 0.011218 0.004776 72 | v -0.010381 0.025251 0.019758 73 | v 0.010554 0.011457 0.017855 74 | v 0.010554 0.025491 0.019046 75 | v -0.010143 0.015025 0.023329 76 | v 0.010077 0.023110 0.023329 77 | v -0.010381 0.011457 0.018093 78 | v 0.010077 0.015025 0.023329 79 | v -0.010143 0.023110 0.023329 80 | v 0.010554 0.025491 0.005963 81 | v -0.010381 0.024299 0.004776 82 | v -0.010620 0.025251 0.019520 83 | v -0.010381 0.025491 0.014286 84 | v 0.005080 0.011218 0.008581 85 | v -0.010620 0.017642 0.004776 86 | v -0.010620 0.011694 0.017855 87 | v 0.010315 0.023585 0.022613 88 | v -0.010381 0.015500 0.023329 89 | v 0.010315 0.015263 0.023329 90 | v -0.001341 0.011457 0.018093 91 | v -0.010143 0.023348 0.023089 92 | v -0.010620 0.025251 0.015713 93 | v -0.010620 0.011218 0.005963 94 | v 0.010315 0.024537 0.020948 95 | v 0.010554 0.011218 0.007867 96 | v -0.010381 0.022634 0.022613 97 | v 0.010554 0.024301 0.004774 98 | v 0.010315 0.022634 0.023329 99 | v 0.010554 0.017166 0.021424 100 | v -0.004433 0.025251 0.019758 101 | f 45 52 58 102 | f 25 24 29 103 | f 24 27 29 104 | f 27 23 31 105 | f 23 27 32 106 | f 33 35 36 107 | f 34 33 36 108 | f 33 34 37 109 | f 25 28 38 110 | f 32 27 38 111 | f 28 32 38 112 | f 28 25 39 113 | f 29 26 40 114 | f 32 28 41 115 | f 30 32 41 116 | f 28 40 41 117 | f 40 30 41 118 | f 29 27 42 119 | f 25 29 43 120 | f 39 25 43 121 | f 28 39 43 122 | f 29 40 43 123 | f 26 29 44 124 | f 35 33 44 125 | f 33 37 46 126 | f 26 44 46 127 | f 44 33 46 128 | f 36 31 47 129 | f 34 36 47 130 | f 36 35 48 131 | f 31 36 48 132 | f 42 31 48 133 | f 35 42 48 134 | f 37 34 49 135 | f 30 40 49 136 | f 40 37 49 137 | f 34 45 49 138 | f 40 28 50 139 | f 28 43 50 140 | f 43 40 50 141 | f 29 42 51 142 | f 42 35 51 143 | f 44 29 51 144 | f 35 44 51 145 | f 45 32 52 146 | f 27 31 53 147 | f 42 27 53 148 | f 31 42 53 149 | f 40 26 54 150 | f 37 40 54 151 | f 46 37 54 152 | f 26 46 54 153 | f 24 25 55 154 | f 27 24 55 155 | f 25 38 55 156 | f 38 27 55 157 | f 23 32 56 158 | f 32 45 56 159 | f 45 34 56 160 | f 34 47 56 161 | f 56 47 57 162 | f 31 23 57 163 | f 47 31 57 164 | f 23 56 57 165 | f 32 30 58 166 | f 30 49 58 167 | f 49 45 58 168 | f 52 32 58 169 | o convex_2 170 | v -0.009906 0.014787 0.028802 171 | v 0.010078 0.022873 0.023805 172 | v 0.001512 0.022396 0.024757 173 | v 0.008888 0.015973 0.035938 174 | v 0.010078 0.014549 0.023567 175 | v 0.009124 0.007886 0.035938 176 | v -0.008953 0.015973 0.035938 177 | v -0.010144 0.014787 0.023329 178 | v -0.009191 0.007886 0.035460 179 | v -0.010144 0.022873 0.023329 180 | v 0.010316 0.021206 0.023329 181 | v 0.009124 0.008126 0.034748 182 | v -0.009191 0.007886 0.035938 183 | v -0.010144 0.022633 0.024282 184 | v 0.010316 0.015024 0.023329 185 | v 0.009363 0.016211 0.034985 186 | v -0.009429 0.016449 0.034272 187 | v -0.005147 0.014549 0.023567 188 | v 0.010078 0.022873 0.023329 189 | v -0.009191 0.009315 0.032844 190 | v -0.010144 0.013834 0.025947 191 | v 0.009124 0.016686 0.034748 192 | v -0.008953 0.016686 0.034748 193 | v 0.010316 0.015973 0.024045 194 | v 0.009363 0.008839 0.034032 195 | v -0.010144 0.021445 0.025472 196 | v 0.003176 0.007886 0.035222 197 | v -0.009906 0.022396 0.024757 198 | v 0.010078 0.022633 0.024282 199 | v -0.009191 0.015736 0.035938 200 | v -0.009429 0.009791 0.034032 201 | v -0.009906 0.014311 0.024045 202 | v 0.010078 0.021206 0.026185 203 | f 87 74 91 204 | f 64 62 65 205 | f 66 68 69 206 | f 64 65 71 207 | f 67 64 71 208 | f 60 68 72 209 | f 68 66 72 210 | f 63 66 73 211 | f 66 69 73 212 | f 70 63 73 213 | f 62 64 74 214 | f 66 63 76 215 | f 63 70 76 216 | f 68 60 77 217 | f 69 68 77 218 | f 60 69 77 219 | f 66 67 79 220 | f 67 71 79 221 | f 72 66 79 222 | f 65 62 80 223 | f 62 74 80 224 | f 72 65 81 225 | f 80 61 81 226 | f 65 80 81 227 | f 73 69 82 228 | f 82 74 83 229 | f 64 70 83 230 | f 70 73 83 231 | f 74 64 83 232 | f 73 82 83 233 | f 59 75 84 234 | f 75 72 84 235 | f 79 59 84 236 | f 72 79 84 237 | f 64 67 85 238 | f 70 64 85 239 | f 76 70 85 240 | f 67 78 85 241 | f 78 76 85 242 | f 61 60 86 243 | f 60 72 86 244 | f 81 61 86 245 | f 72 81 86 246 | f 60 61 87 247 | f 69 60 87 248 | f 61 80 87 249 | f 80 74 87 250 | f 71 65 88 251 | f 65 72 88 252 | f 75 71 88 253 | f 72 75 88 254 | f 75 59 89 255 | f 71 75 89 256 | f 59 79 89 257 | f 79 71 89 258 | f 67 66 90 259 | f 66 76 90 260 | f 78 67 90 261 | f 76 78 90 262 | f 82 69 91 263 | f 74 82 91 264 | f 69 87 91 265 | o convex_3 266 | v 0.001513 0.000987 0.054019 267 | v -0.009193 0.009551 0.035940 268 | v -0.009193 0.014309 0.035940 269 | v 0.009126 0.006936 0.035940 270 | v 0.006984 0.014544 0.053067 271 | v -0.008240 0.014309 0.052115 272 | v -0.008954 -0.000203 0.036177 273 | v 0.008888 -0.000203 0.050449 274 | v 0.008888 0.015499 0.035940 275 | v -0.008716 -0.000203 0.050688 276 | v 0.008888 -0.000203 0.036177 277 | v 0.009126 0.014308 0.049973 278 | v -0.005622 0.014544 0.053780 279 | v -0.005861 -0.000203 0.053780 280 | v -0.008954 0.015499 0.036177 281 | v -0.009193 0.014309 0.048782 282 | v 0.006033 -0.000203 0.053541 283 | v 0.005081 0.014544 0.054019 284 | v -0.005622 0.013118 0.054019 285 | v -0.008954 0.000035 0.049973 286 | v 0.008411 0.011692 0.051876 287 | v -0.002054 0.002891 0.035940 288 | v 0.007222 0.000750 0.053067 289 | v -0.008002 0.004556 0.052352 290 | v 0.005795 0.009551 0.054019 291 | v 0.009126 0.014308 0.035940 292 | v -0.008954 0.014071 0.050688 293 | v -0.007288 0.009313 0.053067 294 | v 0.006984 0.014309 0.053304 295 | v -0.008716 0.014544 0.050688 296 | v 0.005319 -0.000203 0.053780 297 | v -0.005622 0.007648 0.054019 298 | v 0.008649 0.014544 0.051162 299 | v 0.009126 0.011454 0.049734 300 | v -0.008002 -0.000203 0.052115 301 | v -0.008716 0.009551 0.051400 302 | v -0.008954 0.004556 0.035940 303 | v 0.009126 0.006460 0.039271 304 | v -0.009193 0.009551 0.041173 305 | v 0.008888 0.004556 0.035940 306 | v -0.001102 0.000750 0.054019 307 | v -0.008954 0.015499 0.035940 308 | v 0.008888 0.015499 0.036177 309 | v 0.008888 0.007173 0.050925 310 | v -0.003245 0.014544 0.054019 311 | v 0.004842 0.003129 0.054019 312 | v -0.007527 0.014309 0.052828 313 | v 0.007699 -0.000203 0.052352 314 | v 0.008411 0.014309 0.051876 315 | v -0.006336 0.000750 0.053541 316 | f 115 126 141 317 | f 93 94 95 318 | f 95 94 100 319 | f 98 99 101 320 | f 99 98 102 321 | f 101 99 105 322 | f 94 93 107 323 | f 106 94 107 324 | f 105 99 108 325 | f 92 109 110 326 | f 98 101 111 327 | f 93 95 113 328 | f 102 98 113 329 | f 109 92 116 330 | f 108 114 116 331 | f 95 100 117 332 | f 103 95 117 333 | f 100 103 117 334 | f 107 111 118 335 | f 97 115 119 336 | f 96 109 120 337 | f 109 116 120 338 | f 116 114 120 339 | f 97 104 121 340 | f 104 106 121 341 | f 106 107 121 342 | f 118 97 121 343 | f 107 118 121 344 | f 105 108 122 345 | f 108 116 122 346 | f 92 110 123 347 | f 110 119 123 348 | f 95 103 125 349 | f 103 99 125 350 | f 101 105 126 351 | f 126 115 127 352 | f 111 101 127 353 | f 115 97 127 354 | f 97 118 127 355 | f 118 111 127 356 | f 101 126 127 357 | f 98 93 128 358 | f 93 113 128 359 | f 113 98 128 360 | f 102 95 129 361 | f 99 102 129 362 | f 95 125 129 363 | f 125 99 129 364 | f 93 98 130 365 | f 107 93 130 366 | f 98 111 130 367 | f 111 107 130 368 | f 95 102 131 369 | f 113 95 131 370 | f 102 113 131 371 | f 122 92 132 372 | f 105 122 132 373 | f 92 123 132 374 | f 123 105 132 375 | f 100 94 133 376 | f 94 106 133 377 | f 106 100 133 378 | f 103 100 134 379 | f 100 106 134 380 | f 109 96 134 381 | f 106 109 134 382 | f 96 124 134 383 | f 124 103 134 384 | f 99 103 135 385 | f 106 104 136 386 | f 109 106 136 387 | f 104 110 136 388 | f 110 109 136 389 | f 116 92 137 390 | f 92 122 137 391 | f 122 116 137 392 | f 104 97 138 393 | f 110 104 138 394 | f 97 119 138 395 | f 119 110 138 396 | f 108 99 139 397 | f 114 108 139 398 | f 112 114 139 399 | f 99 135 139 400 | f 135 112 139 401 | f 114 112 140 402 | f 96 120 140 403 | f 120 114 140 404 | f 124 96 140 405 | f 103 124 140 406 | f 135 103 140 407 | f 112 135 140 408 | f 119 115 141 409 | f 105 123 141 410 | f 123 119 141 411 | f 126 105 141 412 | -------------------------------------------------------------------------------- /meshes/panda/visual/colors.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/panda/visual/colors.png -------------------------------------------------------------------------------- /meshes/panda/visual/finger.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 2 3 | 4 | newmtl Part__Feature001_006.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.901961 0.921569 0.929412 8 | Ks 0.250000 0.250000 0.250000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature_007.001 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.250980 0.250980 0.250980 19 | Ks 0.250000 0.250000 0.250000 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | -------------------------------------------------------------------------------- /meshes/panda/visual/hand.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 5 3 | 4 | newmtl Part__Feature001_008_005.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.250980 0.250980 0.250980 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature002_005_005.001 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.901961 0.921569 0.929412 19 | Ks 0.015625 0.015625 0.015625 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | 25 | newmtl Part__Feature005_001_005.001 26 | Ns -1.960784 27 | Ka 1.000000 1.000000 1.000000 28 | Kd 1.000000 1.000000 1.000000 29 | Ks 0.015625 0.015625 0.015625 30 | Ke 0.000000 0.000000 0.000000 31 | Ni 1.000000 32 | d 1.000000 33 | illum 2 34 | map_Kd colors.png 35 | 36 | newmtl Part__Feature005_001_005_001.001 37 | Ns -1.960784 38 | Ka 1.000000 1.000000 1.000000 39 | Kd 0.901961 0.921569 0.929412 40 | Ks 0.015625 0.015625 0.015625 41 | Ke 0.000000 0.000000 0.000000 42 | Ni 1.000000 43 | d 1.000000 44 | illum 2 45 | map_Kd colors.png 46 | 47 | newmtl Part__Feature_009_005.001 48 | Ns -1.960784 49 | Ka 1.000000 1.000000 1.000000 50 | Kd 0.250980 0.250980 0.250980 51 | Ks 0.015625 0.015625 0.015625 52 | Ke 0.000000 0.000000 0.000000 53 | Ni 1.000000 54 | d 1.000000 55 | illum 2 56 | map_Kd colors.png 57 | -------------------------------------------------------------------------------- /meshes/panda/visual/link1.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 1 3 | 4 | newmtl Part__Feature_001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.062500 0.062500 0.062500 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | -------------------------------------------------------------------------------- /meshes/panda/visual/link2.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link3.blend' 2 | # Material Count: 1 3 | 4 | newmtl Part__Feature024 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.125000 0.125000 0.125000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | -------------------------------------------------------------------------------- /meshes/panda/visual/link3.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link4.blend' 2 | # Material Count: 4 3 | 4 | newmtl Part__Feature001_010_001_002 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature002_007_001_002 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 1.000000 1.000000 1.000000 19 | Ks 0.007812 0.007812 0.007812 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | 26 | newmtl Part__Feature003_004_001_002 27 | Ns -1.960784 28 | Ka 1.000000 1.000000 1.000000 29 | Kd 1.000000 1.000000 1.000000 30 | Ks 0.007812 0.007812 0.007812 31 | Ke 0.000000 0.000000 0.000000 32 | Ni 1.000000 33 | d 1.000000 34 | illum 2 35 | map_Kd colors.png 36 | 37 | newmtl Part__Feature_001_001_001_002 38 | Ns -1.960784 39 | Ka 1.000000 1.000000 1.000000 40 | Kd 0.250980 0.250980 0.250980 41 | Ks 0.007812 0.007812 0.007812 42 | Ke 0.000000 0.000000 0.000000 43 | Ni 1.000000 44 | d 1.000000 45 | illum 2 46 | map_Kd colors.png 47 | -------------------------------------------------------------------------------- /meshes/panda/visual/link4.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link4.blend' 2 | # Material Count: 4 3 | 4 | newmtl Part__Feature001_001_003_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Part__Feature002_001_003_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.250980 0.250980 0.250980 18 | Ks 0.007812 0.007812 0.007812 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | map_Kd colors.png 24 | 25 | newmtl Part__Feature003_001_003_001.001 26 | Ns -1.960784 27 | Ka 1.000000 1.000000 1.000000 28 | Kd 1.000000 1.000000 1.000000 29 | Ks 0.007812 0.007812 0.007812 30 | Ke 0.000000 0.000000 0.000000 31 | Ni 1.000000 32 | d 1.000000 33 | illum 2 34 | map_Kd colors.png 35 | 36 | newmtl Part__Feature_002_003_001.001 37 | Ns -1.960784 38 | Ka 1.000000 1.000000 1.000000 39 | Kd 1.000000 1.000000 1.000000 40 | Ks 0.007812 0.007812 0.007812 41 | Ke 0.000000 0.000000 0.000000 42 | Ni 1.000000 43 | d 1.000000 44 | illum 2 45 | map_Kd colors.png 46 | -------------------------------------------------------------------------------- /meshes/panda/visual/link5.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 3 3 | 4 | newmtl Part__Feature_002_004_003.002 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.015625 0.015625 0.015625 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Shell001_001_001_003.002 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.250000 0.250000 0.250000 19 | Ks 0.015625 0.015625 0.015625 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | 26 | newmtl Shell_001_001_003.002 27 | Ns -1.960784 28 | Ka 1.000000 1.000000 1.000000 29 | Kd 1.000000 1.000000 1.000000 30 | Ks 0.015625 0.015625 0.015625 31 | Ke 0.000000 0.000000 0.000000 32 | Ni 1.000000 33 | d 1.000000 34 | illum 2 35 | -------------------------------------------------------------------------------- /meshes/panda/visual/link6.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 17 3 | 4 | newmtl Face064_002_001_002_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 0.000000 0.000000 8 | Ks 0.003906 0.003906 0.003906 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Face065_002_001_002_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.000000 1.000000 0.000000 18 | Ks 0.003906 0.003906 0.003906 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | 24 | newmtl Face374_002_001_002_001.001 25 | Ns -1.960784 26 | Ka 1.000000 1.000000 1.000000 27 | Kd 1.000000 1.000000 1.000000 28 | Ks 0.003906 0.003906 0.003906 29 | Ke 0.000000 0.000000 0.000000 30 | Ni 1.000000 31 | d 1.000000 32 | illum 2 33 | 34 | newmtl Face539_002_001_002_001.001 35 | Ns -1.960784 36 | Ka 1.000000 1.000000 1.000000 37 | Kd 0.250980 0.250980 0.250980 38 | Ks 0.003906 0.003906 0.003906 39 | Ke 0.000000 0.000000 0.000000 40 | Ni 1.000000 41 | d 1.000000 42 | illum 2 43 | map_Kd colors.png 44 | 45 | newmtl Part__Feature001_009_001_002_001.001 46 | Ns -1.960784 47 | Ka 1.000000 1.000000 1.000000 48 | Kd 0.250980 0.250980 0.250980 49 | Ks 0.003906 0.003906 0.003906 50 | Ke 0.000000 0.000000 0.000000 51 | Ni 1.000000 52 | d 1.000000 53 | illum 2 54 | map_Kd colors.png 55 | 56 | newmtl Part__Feature002_006_001_002_001.001 57 | Ns -1.960784 58 | Ka 1.000000 1.000000 1.000000 59 | Kd 0.250980 0.250980 0.250980 60 | Ks 0.003906 0.003906 0.003906 61 | Ke 0.000000 0.000000 0.000000 62 | Ni 1.000000 63 | d 1.000000 64 | illum 2 65 | map_Kd colors.png 66 | 67 | newmtl Shell002_002_001_002_001.001 68 | Ns -1.960784 69 | Ka 1.000000 1.000000 1.000000 70 | Kd 1.000000 1.000000 1.000000 71 | Ks 0.003906 0.003906 0.003906 72 | Ke 0.000000 0.000000 0.000000 73 | Ni 1.000000 74 | d 1.000000 75 | illum 2 76 | 77 | newmtl Shell003_002_001_002_001.001 78 | Ns -1.960784 79 | Ka 1.000000 1.000000 1.000000 80 | Kd 1.000000 1.000000 1.000000 81 | Ks 0.003906 0.003906 0.003906 82 | Ke 0.000000 0.000000 0.000000 83 | Ni 1.000000 84 | d 1.000000 85 | illum 2 86 | 87 | newmtl Shell004_001_001_002_001.001 88 | Ns -1.960784 89 | Ka 1.000000 1.000000 1.000000 90 | Kd 1.000000 1.000000 1.000000 91 | Ks 0.003906 0.003906 0.003906 92 | Ke 0.000000 0.000000 0.000000 93 | Ni 1.000000 94 | d 1.000000 95 | illum 2 96 | 97 | newmtl Shell005_001_001_002_001.001 98 | Ns -1.960784 99 | Ka 1.000000 1.000000 1.000000 100 | Kd 1.000000 1.000000 1.000000 101 | Ks 0.003906 0.003906 0.003906 102 | Ke 0.000000 0.000000 0.000000 103 | Ni 1.000000 104 | d 1.000000 105 | illum 2 106 | 107 | newmtl Shell006_003_002_001.001 108 | Ns -1.960784 109 | Ka 1.000000 1.000000 1.000000 110 | Kd 0.901961 0.921569 0.929412 111 | Ks 0.015625 0.015625 0.015625 112 | Ke 0.000000 0.000000 0.000000 113 | Ni 1.000000 114 | d 1.000000 115 | illum 2 116 | 117 | newmtl Shell007_002_002_001.001 118 | Ns -1.960784 119 | Ka 1.000000 1.000000 1.000000 120 | Kd 0.250000 0.250000 0.250000 121 | Ks 0.003906 0.003906 0.003906 122 | Ke 0.000000 0.000000 0.000000 123 | Ni 1.000000 124 | d 1.000000 125 | illum 2 126 | 127 | newmtl Shell011_002_002_001.001 128 | Ns -1.960784 129 | Ka 1.000000 1.000000 1.000000 130 | Kd 1.000000 1.000000 1.000000 131 | Ks 0.003906 0.003906 0.003906 132 | Ke 0.000000 0.000000 0.000000 133 | Ni 1.000000 134 | d 1.000000 135 | illum 2 136 | 137 | newmtl Shell012_002_002_001.001 138 | Ns -1.960784 139 | Ka 1.000000 1.000000 1.000000 140 | Kd 1.000000 1.000000 1.000000 141 | Ks 0.003906 0.003906 0.003906 142 | Ke 0.000000 0.000000 0.000000 143 | Ni 1.000000 144 | d 1.000000 145 | illum 2 146 | map_Kd colors.png 147 | 148 | newmtl Shell_003_001_002_001.001 149 | Ns -1.960784 150 | Ka 1.000000 1.000000 1.000000 151 | Kd 0.250980 0.250980 0.250980 152 | Ks 0.003906 0.003906 0.003906 153 | Ke 0.000000 0.000000 0.000000 154 | Ni 1.000000 155 | d 1.000000 156 | illum 2 157 | map_Kd colors.png 158 | 159 | newmtl Union001_001_001_002_001.001 160 | Ns -1.960784 161 | Ka 1.000000 1.000000 1.000000 162 | Kd 0.039216 0.541176 0.780392 163 | Ks 0.003906 0.003906 0.003906 164 | Ke 0.000000 0.000000 0.000000 165 | Ni 1.000000 166 | d 1.000000 167 | illum 2 168 | 169 | newmtl Union_001_001_002_001.001 170 | Ns -1.960784 171 | Ka 1.000000 1.000000 1.000000 172 | Kd 0.039216 0.541176 0.780392 173 | Ks 0.003906 0.003906 0.003906 174 | Ke 0.000000 0.000000 0.000000 175 | Ni 1.000000 176 | d 1.000000 177 | illum 2 178 | -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_140_inner_finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_140_inner_finger.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_140_inner_knuckle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_140_inner_knuckle.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_140_outer_finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_140_outer_finger.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_140_outer_knuckle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_140_outer_knuckle.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_base_link.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/collision/robotiq_arg2f_coupling.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/collision/robotiq_arg2f_coupling.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_140_inner_finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_140_inner_finger.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_140_inner_knuckle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_140_inner_knuckle.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_140_outer_finger.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_140_outer_finger.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_140_outer_knuckle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_140_outer_knuckle.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_base_link.stl -------------------------------------------------------------------------------- /meshes/robotiq_140/visual/robotiq_arg2f_coupling.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_140/visual/robotiq_arg2f_coupling.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/base.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/forearm.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/robotiq_arg2f_85_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/robotiq_arg2f_85_base_link.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/robotiq_arg2f_85_inner_knuckle.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | VCGLab 6 | VCGLib | MeshLab 7 | 8 | Mon Dec 3 16:34:34 2018 GMT 9 | Mon Dec 3 16:34:34 2018 GMT 10 | Y_UP 11 | 12 | 13 | 14 | 15 | 16 | -16.7877 18.9747 31.4552 16.7877 28.0996 23.6618 17 18.0385 30.3589 16.7877 18.9747 31.4552 13.1548 30.4682 26.4351 13.5 39.564 42.9502 16.9466 27.6365 23.1196 13.5 39.6132 43.575 13.5 39.2476 44.7635 13.5 38.8557 45.2525 13.5 39.5054 44.1923 -17 18.0385 30.3589 -15.1957 20.5359 33.2831 15.1957 20.5359 33.2831 -13.5 38.3546 45.6288 -13.5 37.7756 45.8686 -13.5 37.1552 45.9569 -13.5 36.5323 45.8881 13.5 38.3546 45.6288 13.5 37.1552 45.9569 13.5 37.7756 45.8686 13.5 36.5323 45.8881 16.9466 18.5116 30.913 -16.9466 18.5116 30.913 -13.5 38.8557 45.2525 -16.7877 28.0996 23.6618 -13.5 39.2476 44.7635 -13.5 39.5054 44.1923 -13.5 39.6132 43.575 -13.5 39.564 42.9502 -13.1548 30.4682 26.4351 -16.9466 27.6365 23.1196 -19.5 -0.314016 -5.99178 19.5 0.470755 -5.9815 19.5 -0.314016 -5.99178 -19.5 0.470755 -5.9815 -19.5 1.24747 -5.86889 19.5 1.24747 -5.86889 -12 32.5535 47.3539 12 32.5535 47.3539 12 33.1012 47.9161 -12 33.1012 47.9161 19.5 4.01478 -4.45887 -19.5 4.01478 -4.45887 -19.5 4.56244 -3.89669 19.5 4.56244 -3.89669 -19.5 3.39844 -4.94476 19.5 2.72394 -5.34604 19.5 3.39844 -4.94476 -19.5 2.72394 -5.34604 -19.5 2.00284 -5.65585 19.5 2.00284 -5.65585 19.5 -5.34604 -2.72394 -19.5 -5.34604 -2.72394 19.5 -5.65585 -2.00284 -19.5 -5.65585 -2.00284 12 42.148 40.1894 -12 42.5315 40.8741 12 42.5315 40.8741 -12 42.148 40.1894 12 41.6784 39.5605 -12 41.6784 39.5605 19.5 -1.8541 -5.70634 -19.5 -1.8541 -5.70634 -19.5 -2.58307 -5.41551 19.5 -2.58307 -5.41551 19.5 -3.89669 -4.56244 -19.5 -3.89669 -4.56244 -19.5 -4.45887 -4.01478 19.5 -4.45887 -4.01478 -19.5 -5.99178 0.314016 19.5 -5.89953 1.09341 19.5 -5.99178 0.314016 -19.5 -5.89953 1.09341 19.5 -5.9815 -0.470755 -19.5 -5.9815 -0.470755 -19.5 -5.86889 -1.24747 19.5 -5.86889 -1.24747 12 43.0155 42.3638 -12 43.0155 42.3638 -12 43.1077 43.1432 12 43.1077 43.1432 -19.5 -5.03202 3.26783 19.5 -4.56244 3.89669 19.5 -5.03202 3.26783 -19.5 -4.56244 3.89669 19.5 -5.41551 2.58307 -19.5 -5.41551 2.58307 -19.5 -5.70634 1.8541 19.5 -5.70634 1.8541 -7.39096 22.4038 35.4701 7.39096 22.4038 35.4701 12 42.462 46.1811 12 42.0607 46.8556 -12 42.0607 46.8556 -12 42.462 46.1811 -19.3223 0.989514 10.3972 19.3223 0.989514 10.3972 19.5 -1.09341 -5.89953 -19.5 -1.09341 -5.89953 19.5 -3.26783 -5.03202 -19.5 -3.26783 -5.03202 -19.5 -4.94476 -3.39844 -19.5 0.131506 9.39259 -19.5 9.25638 1.59921 19.5 -4.94476 -3.39844 19.5 0.131506 9.39259 19.5 9.25638 1.59921 8.2941 16.1092 28.1001 -8.2941 16.1092 28.1001 12 42.8223 41.6031 -12 42.8223 41.6031 12 37.43 49.449 -12 37.43 49.449 -12 38.2094 49.3567 12 38.2094 49.3567 12 38.9701 49.1635 -12 38.9701 49.1635 12 33.7175 48.402 -12 33.7175 48.402 12 34.392 48.8032 -12 34.392 48.8032 -19.3223 10.1144 2.60381 19.3223 10.1144 2.60381 8.2941 25.2341 20.3067 -8.2941 25.2341 20.3067 12 43.0975 43.928 -12 43.0975 43.928 12 41.0126 48.0196 -12 40.3838 48.4892 12 40.3838 48.4892 -12 41.0126 48.0196 12 42.7718 45.46 -12 42.7718 45.46 17.9756 2.46592 12.1258 -17.9756 2.46592 12.1258 -12 42.9848 44.7047 12 42.9848 44.7047 -12 36.6452 49.4387 12 35.8685 49.3261 -12 35.8685 49.3261 12 36.6452 49.4387 -12 41.5748 47.472 12 41.5748 47.472 12 39.699 48.8727 -12 39.699 48.8727 12 35.1131 49.113 -12 35.1131 49.113 6.56274 30.597 26.5859 -6.56274 30.597 26.5859 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 0.274634 -0.68876 0.670959 0.000909477 -0.76027 0.649607 -0.919002 0.391522 -0.0463353 -0.274634 -0.68876 0.670959 -0.00101522 -0.760229 0.649655 2.67985e-07 -0.760406 0.649448 -0.918698 -0.10721 0.380131 -0.919713 -0.131495 0.369915 -0.899248 -0.172676 0.401917 -0.826239 -0.288024 0.484119 -0.673256 -0.453065 0.584345 -0.657818 -0.466285 0.591484 0.673409 0.647933 -0.355955 0.00057084 0.760491 -0.649349 0.657795 0.657159 -0.368033 0.274649 0.770443 -0.575314 -0.274649 0.770443 -0.575314 -0.657797 0.657157 -0.368032 -0.995955 0.0583571 0.0683273 -2.89301e-07 -0.760406 0.649448 1.41082e-05 -0.760406 0.649448 -0.966148 -0.0283074 0.256429 -0.981195 0.0271964 0.191092 -0.989575 0.0864715 0.115172 -0.987028 0.0614393 0.148329 -0.919731 0.0553108 0.388633 -0.919465 0.236065 0.314416 -0.919391 0.235345 0.315171 -2.0889e-07 -0.760406 0.649448 -2.67985e-07 -0.760406 0.649448 1.89347e-05 0.760406 -0.649448 5.64453e-05 0.760409 -0.649444 0.995955 0.0583571 0.0683273 0.995955 0.0583571 0.0683273 0.989941 0.0918835 0.107582 0.988564 0.117689 0.0942865 0.918628 0.339571 0.202026 -0.919208 0.361797 0.155435 0 -0.760406 0.649448 -1.41082e-05 -0.760406 0.649448 2.0889e-07 -0.760406 0.649448 0.000174421 -0.760389 0.649468 3.94178e-05 -0.760404 0.649451 1.58797e-06 -0.760406 0.649448 2.06294e-05 -0.760403 0.649452 2.16959e-06 -0.760406 0.649448 0.826244 0.52321 -0.208739 0.899246 0.423983 -0.107679 -0.918637 0.0972567 0.382947 -0.919152 0.0462978 0.391172 0.918637 0.0972567 0.382947 0.657818 -0.466285 0.591484 0.673253 -0.453078 0.584337 0.919049 -0.0565529 0.390066 0.826239 -0.288024 0.484119 -1.9306e-05 0.760406 -0.649448 2.64332e-07 0.760406 -0.649448 0 0.760406 -0.649448 3.27417e-07 0.760406 -0.649448 4.41978e-07 0.760406 -0.649448 -2.0498e-07 0.760406 -0.649448 0.98472 0.158719 0.0716633 0.9756 0.216287 0.0377472 0.91978 0.38659 0.0674691 0.919675 0.357892 0.161592 0.91916 0.387052 -0.0730464 0.948637 0.315391 -0.0248217 0.919002 0.391522 -0.0463353 0.91986 0.391038 -0.030775 0.919099 0.389948 0.0565416 0.918679 0.394972 0.00516843 0.987028 0.0614393 0.148329 0.989575 0.0864715 0.115172 0.919391 0.235345 0.315171 0.919465 0.236065 0.314416 0.919327 0.309016 0.243611 0.919541 0.306704 0.245716 0.918619 0.27573 0.28304 0.918647 0.380245 0.107241 0.919208 0.361797 0.155435 -0.918679 0.394972 0.00516843 -0.91986 0.391038 -0.030775 -0.918628 0.339571 0.202026 -0.919675 0.357892 0.161592 -0.000174421 -0.760389 0.649468 -4.06123e-05 -0.760404 0.649451 -1.29023e-06 -0.760406 0.649448 -1.86832e-05 -0.760401 0.649454 -2.16959e-06 -0.760406 0.649448 6.1231e-07 -0.760406 0.649448 2.53138e-07 -0.760406 0.649448 -0.918648 0.380245 0.107241 -0.91978 0.38659 0.0674691 -0.919099 0.389948 0.0565416 -0.918622 0.193073 0.344755 -0.919611 0.150328 0.362928 -0.919266 0.145866 0.365613 -0.918662 -0.00517278 0.395011 -0.919049 -0.0565529 0.390066 -0.919824 -0.0430483 0.389964 -0.918619 0.27573 0.28304 -0.919541 0.306704 0.245716 -0.919327 0.309016 0.243611 0.918622 0.193073 0.344755 0.919266 0.145866 0.365613 0.919611 0.150328 0.362928 0.918662 -0.00517278 0.395011 0.919824 -0.0430483 0.389964 0.919152 0.0462978 0.391172 0.919731 0.0553108 0.388633 0.981195 0.0271965 0.191092 0.966148 -0.0283076 0.256429 0.918698 -0.10721 0.380131 0.919713 -0.131495 0.369915 0.899248 -0.172676 0.401917 -5.64453e-05 0.760409 -0.649444 -0.995955 0.0583571 0.0683273 -0.989941 0.0918835 0.107582 -0.00057084 0.760491 -0.649349 -0.988564 0.117689 0.0942865 -0.98472 0.158719 0.0716633 -0.9756 0.216287 0.0377472 -0.948637 0.315391 -0.0248216 -0.91916 0.387052 -0.0730464 -0.899246 0.423983 -0.107679 -0.826244 0.52321 -0.208739 -0.67341 0.647932 -0.355954 1.0249e-07 0.760406 -0.649448 -3.02094e-07 0.760406 -0.649448 -3.31907e-07 0.760406 -0.649448 -2.45562e-07 0.760406 -0.649448 -3.78838e-07 0.760406 -0.649448 0 0.0130893 -0.999914 0 0.0130893 -0.999914 0 0.143492 -0.989651 0 0.143492 -0.989651 0 -0.716303 0.697789 0 -0.716303 0.697789 0 0.716302 -0.69779 0 0.716302 -0.69779 0 0.511293 -0.859406 0 0.511293 -0.859406 0 0.619093 -0.785317 0 0.619093 -0.785317 0 0.271441 -0.962455 0 0.271441 -0.962455 0 0.394744 -0.918791 0 0.394744 -0.918791 0 -0.918791 -0.394744 0 -0.918791 -0.394744 0 0.872492 -0.488628 0 0.872492 -0.488628 0 0.801256 -0.598322 0 0.801256 -0.598322 0 -0.370557 -0.92881 0 -0.370557 -0.92881 0 -0.69779 -0.716302 0 -0.69779 -0.716302 0 -0.993068 0.117538 0 -0.993068 0.117538 0 -0.999914 -0.0130893 0 -0.999914 -0.0130893 0 -0.962455 -0.271441 0 -0.962455 -0.271441 0 -0.989651 -0.143492 0 -0.989651 -0.143492 0 0.99307 -0.117527 0 0.99307 -0.117527 0 -0.801254 0.598324 0 -0.801254 0.598324 0 -0.872495 0.488622 0 -0.872495 0.488622 0 -0.92881 0.370557 0 -0.92881 0.370557 0 -0.969231 0.246153 0 -0.969231 0.246153 0 -0.760406 0.649448 0 -0.760406 0.649448 0 0.859403 0.511299 0 0.859403 0.511299 0 -0.760406 0.649448 0 -0.760406 0.649448 0 -0.117538 -0.993068 0 -0.117538 -0.993068 0 -0.246153 -0.969231 0 -0.246153 -0.969231 0 -0.488622 -0.872495 0 -0.488622 -0.872495 0 -0.598324 -0.801254 0 -0.598324 -0.801254 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -0.785317 -0.619093 0 -0.785317 -0.619093 0 -0.859406 -0.511293 0 -0.859406 -0.511293 0 -0.760406 0.649448 0 -0.760406 0.649448 0 0.92881 -0.370557 0 0.92881 -0.370557 0 0.969231 -0.246155 0 0.969231 -0.246155 0 0.117536 0.993069 0 0.117536 0.993069 0 0.246155 0.969231 0 0.246155 0.969231 0 -0.619091 0.785319 0 -0.619091 0.785319 0 -0.511298 0.859404 0 -0.511298 0.859404 0 0.760406 -0.649448 0 0.760406 -0.649448 0 0.760406 -0.649448 0 0.760406 -0.649448 0 0.999914 0.0130844 0 0.999914 0.0130844 0 0.598317 0.801259 0 0.598317 0.801259 0 0.918796 0.394733 0 0.918796 0.394733 0 -0.760406 0.649448 0 -0.760406 0.649448 0 -0.760406 0.649448 0 -0.760406 0.649448 0 0.962454 0.271444 0 0.962454 0.271444 0 0.989651 0.143497 0 0.989651 0.143497 0 -0.143483 0.989653 0 -0.143483 0.989653 0 -0.0130942 0.999914 0 -0.0130942 0.999914 0 0.697797 0.716296 0 0.697797 0.716296 0 0.785313 0.619098 0 0.785313 0.619098 0 0.488624 0.872495 0 0.488624 0.872495 0 0.37056 0.928809 0 0.37056 0.928809 0 -0.271446 0.962454 0 -0.271446 0.962454 0 -0.394742 0.918792 0 -0.394742 0.918792 0 0.760406 -0.649448 0 0.760406 -0.649448 0 0.760406 -0.649448 0 0.760406 -0.649448 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 |

39 0 3 0 40 0 22 1 3 1 39 1 79 2 29 2 80 2 0 3 38 3 41 3 38 4 0 4 23 4 13 5 39 5 91 5 17 6 147 6 140 6 23 7 147 7 17 7 121 8 147 8 23 8 119 9 121 9 23 9 0 10 119 10 23 10 0 11 41 11 119 11 6 12 1 12 58 12 6 13 60 13 1 13 1 14 56 14 58 14 1 15 60 15 56 15 25 16 59 16 61 16 59 17 25 17 57 17 104 18 103 18 23 18 12 19 135 19 109 19 106 20 97 20 83 20 17 21 16 21 23 21 23 22 16 22 15 22 14 23 24 23 23 23 15 24 14 24 23 24 16 25 114 25 15 25 14 26 131 26 24 26 14 27 129 27 131 27 90 28 12 28 109 28 12 29 90 29 38 29 123 30 107 30 45 30 123 31 6 31 107 31 106 32 107 32 22 32 22 33 107 33 6 33 6 34 9 34 22 34 8 35 9 35 6 35 8 36 92 36 93 36 133 37 27 37 95 37 12 38 96 38 135 38 103 39 85 39 96 39 91 40 108 40 13 40 106 41 22 41 2 41 106 42 2 42 97 42 97 43 2 43 13 43 22 44 39 44 2 44 13 45 2 45 39 45 110 46 6 46 58 46 110 47 78 47 6 47 114 48 117 48 15 48 16 49 113 49 114 49 20 50 116 50 115 50 3 51 118 51 40 51 118 52 3 52 22 52 139 53 21 53 141 53 120 54 118 54 22 54 104 55 122 55 44 55 124 56 4 56 123 56 123 57 4 57 6 57 60 58 4 58 124 58 6 59 4 59 60 59 61 60 149 60 125 60 10 61 8 61 6 61 7 62 10 62 6 62 137 63 10 63 7 63 8 64 10 64 92 64 78 65 5 65 6 65 6 66 5 66 7 66 78 67 81 67 5 67 7 68 5 68 81 68 7 69 126 69 137 69 126 70 7 70 81 70 18 71 20 71 22 71 9 72 18 72 22 72 18 73 128 73 130 73 9 74 128 74 18 74 8 75 93 75 143 75 143 76 9 76 8 76 143 77 128 77 9 77 132 78 10 78 137 78 10 79 132 79 92 79 80 80 28 80 127 80 29 81 28 81 80 81 26 82 94 82 95 82 27 83 26 83 95 83 103 84 11 84 23 84 96 85 11 85 103 85 11 86 96 86 12 86 38 87 23 87 11 87 12 88 38 88 11 88 97 89 13 89 134 89 108 90 134 90 13 90 27 91 133 91 136 91 27 92 136 92 28 92 28 93 136 93 127 93 14 94 145 94 129 94 15 95 145 95 14 95 117 96 145 96 15 96 16 97 138 97 113 97 138 98 17 98 140 98 138 99 16 99 17 99 131 100 142 100 24 100 24 101 142 101 26 101 26 102 142 102 94 102 18 103 130 103 144 103 20 104 144 104 116 104 18 105 144 105 20 105 112 106 141 106 19 106 21 107 19 107 141 107 112 108 19 108 115 108 115 109 19 109 20 109 20 110 19 110 22 110 22 111 19 111 21 111 21 112 139 112 146 112 21 113 146 113 22 113 146 114 120 114 22 114 122 115 104 115 31 115 23 116 31 116 104 116 24 117 31 117 23 117 31 118 25 118 61 118 26 119 31 119 24 119 26 120 27 120 31 120 28 121 31 121 27 121 28 122 29 122 31 122 29 123 79 123 31 123 111 124 31 124 79 124 111 125 57 125 31 125 25 126 31 126 57 126 124 127 148 127 60 127 122 128 30 128 125 128 31 129 30 129 122 129 125 130 30 130 61 130 30 131 31 131 61 131 34 132 32 132 33 132 33 133 32 133 35 133 33 134 36 134 37 134 33 135 35 135 36 135 40 136 38 136 39 136 41 137 38 137 40 137 44 138 42 138 43 138 44 139 45 139 42 139 47 140 46 140 48 140 47 141 49 141 46 141 42 142 46 142 43 142 48 143 46 143 42 143 37 144 50 144 51 144 36 145 50 145 37 145 51 146 50 146 47 146 47 147 50 147 49 147 52 148 54 148 55 148 53 149 52 149 55 149 57 150 58 150 56 150 59 151 57 151 56 151 61 152 56 152 60 152 59 153 56 153 61 153 63 154 62 154 64 154 62 155 65 155 64 155 67 156 66 156 68 156 66 157 69 157 68 157 71 158 70 158 72 158 73 159 70 159 71 159 74 160 70 160 75 160 72 161 70 161 74 161 54 162 76 162 55 162 77 163 76 163 54 163 74 164 75 164 76 164 74 165 76 165 77 165 79 166 80 166 78 166 81 167 78 167 80 167 83 168 82 168 84 168 85 169 82 169 83 169 84 170 82 170 86 170 82 171 87 171 86 171 86 172 88 172 89 172 87 173 88 173 86 173 89 174 88 174 71 174 88 175 73 175 71 175 38 176 90 176 39 176 91 177 39 177 90 177 93 178 92 178 94 178 94 179 92 179 95 179 85 180 83 180 96 180 97 181 96 181 83 181 32 182 98 182 99 182 32 183 34 183 98 183 63 184 99 184 98 184 98 185 62 185 63 185 65 186 100 186 64 186 64 187 100 187 101 187 101 188 100 188 67 188 100 189 66 189 67 189 46 190 102 190 43 190 63 191 102 191 99 191 102 192 32 192 99 192 102 193 101 193 67 193 82 194 102 194 87 194 104 195 102 195 103 195 32 196 102 196 35 196 67 197 68 197 102 197 102 198 50 198 36 198 43 199 102 199 44 199 102 200 36 200 35 200 102 201 63 201 64 201 101 202 102 202 64 202 102 203 53 203 55 203 102 204 46 204 49 204 50 205 102 205 49 205 44 206 102 206 104 206 88 207 87 207 102 207 70 208 102 208 75 208 76 209 75 209 102 209 103 210 102 210 85 210 70 211 73 211 102 211 76 212 102 212 55 212 82 213 85 213 102 213 88 214 102 214 73 214 47 215 48 215 105 215 33 216 37 216 105 216 37 217 51 217 105 217 71 218 105 218 89 218 83 219 84 219 105 219 77 220 54 220 105 220 86 221 89 221 105 221 33 222 105 222 34 222 106 223 83 223 105 223 42 224 105 224 48 224 71 225 72 225 105 225 47 226 105 226 51 226 62 227 105 227 65 227 86 228 105 228 84 228 74 229 77 229 105 229 42 230 45 230 105 230 52 231 105 231 54 231 98 232 105 232 62 232 100 233 105 233 66 233 105 234 107 234 106 234 66 235 105 235 69 235 74 236 105 236 72 236 107 237 105 237 45 237 98 238 34 238 105 238 100 239 65 239 105 239 69 240 105 240 68 240 102 241 68 241 105 241 52 242 53 242 105 242 102 243 105 243 53 243 90 244 108 244 91 244 108 245 90 245 109 245 57 246 110 246 58 246 111 247 110 247 57 247 79 248 110 248 111 248 78 249 110 249 79 249 113 250 112 250 114 250 112 251 115 251 114 251 115 252 116 252 114 252 117 253 114 253 116 253 41 254 40 254 118 254 119 255 41 255 118 255 118 256 120 256 119 256 119 257 120 257 121 257 44 258 122 258 45 258 45 259 122 259 123 259 124 260 122 260 125 260 123 261 122 261 124 261 80 262 126 262 81 262 127 263 126 263 80 263 130 264 128 264 129 264 128 265 131 265 129 265 92 266 132 266 95 266 133 267 95 267 132 267 97 268 134 268 96 268 96 269 134 269 135 269 134 270 108 270 109 270 135 271 134 271 109 271 136 272 132 272 137 272 132 273 136 273 133 273 136 274 126 274 127 274 126 275 136 275 137 275 139 276 138 276 140 276 139 277 141 277 138 277 113 278 138 278 112 278 112 279 138 279 141 279 128 280 142 280 131 280 143 281 142 281 128 281 93 282 94 282 142 282 143 283 93 283 142 283 129 284 144 284 130 284 145 285 144 285 129 285 116 286 144 286 117 286 145 287 117 287 144 287 139 288 140 288 146 288 147 289 146 289 140 289 147 290 121 290 146 290 120 291 146 291 121 291 60 292 148 292 61 292 61 293 148 293 149 293 124 294 125 294 148 294 149 295 148 295 125 295

42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/robotiq_arg2f_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/robotiq_arg2f_base_link.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/shoulder.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/upperarm.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/wrist1.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/wrist2.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/collision/wrist3.stl -------------------------------------------------------------------------------- /meshes/robotiq_85/visual/robotiq_arg2f_85_pad.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 2016-07-17T22:25:43.361178 4 | 2016-07-17T22:25:43.361188 5 | Z_UP 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 0.0 0.0 0.0 1.0 14 | 15 | 16 | 0.0 0.0 0.0 1.0 17 | 18 | 19 | 0.7 0.7 0.7 1.0 20 | 21 | 22 | 1 1 1 1.0 23 | 24 | 25 | 0.0 26 | 27 | 28 | 0.0 0.0 0.0 1.0 29 | 30 | 31 | 0.0 32 | 33 | 34 | 0.0 0.0 0.0 1.0 35 | 36 | 37 | 1.0 38 | 39 | 40 | 41 | 42 | 43 | 0 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 4.38531e-14 -1 -4.451336e-05 4.38531e-14 -1 -4.451336e-05 -4.38531e-14 1 4.451336e-05 -4.38531e-14 1 4.451336e-05 -1 -4.385301e-14 -2.011189e-15 -1 -4.385301e-14 -2.011189e-15 -2.009237e-15 -4.451336e-05 1 -2.009237e-15 -4.451336e-05 1 1 4.385301e-14 2.011189e-15 1 4.385301e-14 2.011189e-15 2.009237e-15 4.451336e-05 -1 2.009237e-15 4.451336e-05 -1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -10 -23.90175 13.51442 10 -23.9033 48.51442 -10 -23.9033 48.51442 10 -23.90175 13.51442 -10 -18.90175 13.51464 -10 -18.9033 48.51464 10 -18.90175 13.51464 10 -18.9033 48.51464 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 |

0 0 1 0 2 0 3 1 1 1 0 1 4 2 5 2 6 2 5 3 7 3 6 3 2 4 5 4 4 4 2 5 4 5 0 5 5 6 2 6 1 6 5 7 1 7 7 7 7 8 1 8 6 8 1 9 3 9 6 9 0 10 4 10 3 10 4 11 6 11 3 11

79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /meshes/robotiq_85/visual/robotiq_gripper_coupling.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/robotiq_85/visual/robotiq_gripper_coupling.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/base.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/base.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/forearm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/forearm.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/shoulder.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/shoulder.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/upperarm.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/upperarm.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/wrist1.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/wrist1.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/wrist2.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/wrist2.stl -------------------------------------------------------------------------------- /meshes/ur5/collision/wrist3.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ElectronicElephant/pybullet_ur5_robotiq/8e1256b1a14d45e98948c0a74db03d3f7ca4f50d/meshes/ur5/collision/wrist3.stl -------------------------------------------------------------------------------- /robot.py: -------------------------------------------------------------------------------- 1 | import pybullet as p 2 | import math 3 | from collections import namedtuple 4 | 5 | 6 | class RobotBase(object): 7 | """ 8 | The base class for robots 9 | """ 10 | 11 | def __init__(self, pos, ori): 12 | """ 13 | Arguments: 14 | pos: [x y z] 15 | ori: [r p y] 16 | 17 | Attributes: 18 | id: Int, the ID of the robot 19 | eef_id: Int, the ID of the End-Effector 20 | arm_num_dofs: Int, the number of DoFs of the arm 21 | i.e., the IK for the EE will consider the first `arm_num_dofs` controllable (non-Fixed) joints 22 | joints: List, a list of joint info 23 | controllable_joints: List of Ints, IDs for all controllable joints 24 | arm_controllable_joints: List of Ints, IDs for all controllable joints on the arm (that is, the first `arm_num_dofs` of controllable joints) 25 | 26 | --- 27 | For null-space IK 28 | --- 29 | arm_lower_limits: List, the lower limits for all controllable joints on the arm 30 | arm_upper_limits: List 31 | arm_joint_ranges: List 32 | arm_rest_poses: List, the rest position for all controllable joints on the arm 33 | 34 | gripper_range: List[Min, Max] 35 | """ 36 | self.base_pos = pos 37 | self.base_ori = p.getQuaternionFromEuler(ori) 38 | 39 | def load(self): 40 | self.__init_robot__() 41 | self.__parse_joint_info__() 42 | self.__post_load__() 43 | print(self.joints) 44 | 45 | def step_simulation(self): 46 | raise RuntimeError('`step_simulation` method of RobotBase Class should be hooked by the environment.') 47 | 48 | def __parse_joint_info__(self): 49 | numJoints = p.getNumJoints(self.id) 50 | jointInfo = namedtuple('jointInfo', 51 | ['id','name','type','damping','friction','lowerLimit','upperLimit','maxForce','maxVelocity','controllable']) 52 | self.joints = [] 53 | self.controllable_joints = [] 54 | for i in range(numJoints): 55 | info = p.getJointInfo(self.id, i) 56 | jointID = info[0] 57 | jointName = info[1].decode("utf-8") 58 | jointType = info[2] # JOINT_REVOLUTE, JOINT_PRISMATIC, JOINT_SPHERICAL, JOINT_PLANAR, JOINT_FIXED 59 | jointDamping = info[6] 60 | jointFriction = info[7] 61 | jointLowerLimit = info[8] 62 | jointUpperLimit = info[9] 63 | jointMaxForce = info[10] 64 | jointMaxVelocity = info[11] 65 | controllable = (jointType != p.JOINT_FIXED) 66 | if controllable: 67 | self.controllable_joints.append(jointID) 68 | p.setJointMotorControl2(self.id, jointID, p.VELOCITY_CONTROL, targetVelocity=0, force=0) 69 | info = jointInfo(jointID,jointName,jointType,jointDamping,jointFriction,jointLowerLimit, 70 | jointUpperLimit,jointMaxForce,jointMaxVelocity,controllable) 71 | self.joints.append(info) 72 | 73 | assert len(self.controllable_joints) >= self.arm_num_dofs 74 | self.arm_controllable_joints = self.controllable_joints[:self.arm_num_dofs] 75 | 76 | self.arm_lower_limits = [info.lowerLimit for info in self.joints if info.controllable][:self.arm_num_dofs] 77 | self.arm_upper_limits = [info.upperLimit for info in self.joints if info.controllable][:self.arm_num_dofs] 78 | self.arm_joint_ranges = [info.upperLimit - info.lowerLimit for info in self.joints if info.controllable][:self.arm_num_dofs] 79 | 80 | def __init_robot__(self): 81 | raise NotImplementedError 82 | 83 | def __post_load__(self): 84 | pass 85 | 86 | def reset(self): 87 | self.reset_arm() 88 | self.reset_gripper() 89 | 90 | def reset_arm(self): 91 | """ 92 | reset to rest poses 93 | """ 94 | for rest_pose, joint_id in zip(self.arm_rest_poses, self.arm_controllable_joints): 95 | p.resetJointState(self.id, joint_id, rest_pose) 96 | 97 | # Wait for a few steps 98 | for _ in range(10): 99 | self.step_simulation() 100 | 101 | def reset_gripper(self): 102 | self.open_gripper() 103 | 104 | def open_gripper(self): 105 | self.move_gripper(self.gripper_range[1]) 106 | 107 | def close_gripper(self): 108 | self.move_gripper(self.gripper_range[0]) 109 | 110 | def move_ee(self, action, control_method): 111 | assert control_method in ('joint', 'end') 112 | if control_method == 'end': 113 | x, y, z, roll, pitch, yaw = action 114 | pos = (x, y, z) 115 | orn = p.getQuaternionFromEuler((roll, pitch, yaw)) 116 | joint_poses = p.calculateInverseKinematics(self.id, self.eef_id, pos, orn, 117 | self.arm_lower_limits, self.arm_upper_limits, self.arm_joint_ranges, self.arm_rest_poses, 118 | maxNumIterations=20) 119 | elif control_method == 'joint': 120 | assert len(action) == self.arm_num_dofs 121 | joint_poses = action 122 | # arm 123 | for i, joint_id in enumerate(self.arm_controllable_joints): 124 | p.setJointMotorControl2(self.id, joint_id, p.POSITION_CONTROL, joint_poses[i], 125 | force=self.joints[joint_id].maxForce, maxVelocity=self.joints[joint_id].maxVelocity) 126 | 127 | def move_gripper(self, open_length): 128 | raise NotImplementedError 129 | 130 | def get_joint_obs(self): 131 | positions = [] 132 | velocities = [] 133 | for joint_id in self.controllable_joints: 134 | pos, vel, _, _ = p.getJointState(self.id, joint_id) 135 | positions.append(pos) 136 | velocities.append(vel) 137 | ee_pos = p.getLinkState(self.id, self.eef_id)[0] 138 | return dict(positions=positions, velocities=velocities, ee_pos=ee_pos) 139 | 140 | 141 | class Panda(RobotBase): 142 | def __init_robot__(self): 143 | # define the robot 144 | # see https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_robots/panda/panda_sim_grasp.py 145 | self.eef_id = 11 146 | self.arm_num_dofs = 7 147 | self.arm_rest_poses = [0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32] 148 | self.id = p.loadURDF('./urdf/panda.urdf', self.base_pos, self.base_ori, 149 | useFixedBase=True, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) 150 | self.gripper_range = [0, 0.04] 151 | # create a constraint to keep the fingers centered 152 | c = p.createConstraint(self.id, 153 | 9, 154 | self.id, 155 | 10, 156 | jointType=p.JOINT_GEAR, 157 | jointAxis=[1, 0, 0], 158 | parentFramePosition=[0, 0, 0], 159 | childFramePosition=[0, 0, 0]) 160 | p.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50) 161 | 162 | def move_gripper(self, open_length): 163 | assert self.gripper_range[0] <= open_length <= self.gripper_range[1] 164 | for i in [9, 10]: 165 | p.setJointMotorControl2(self.id, i, p.POSITION_CONTROL, open_length, force=20) 166 | 167 | 168 | class UR5Robotiq85(RobotBase): 169 | def __init_robot__(self): 170 | self.eef_id = 7 171 | self.arm_num_dofs = 6 172 | self.arm_rest_poses = [-1.5690622952052096, -1.5446774605904932, 1.343946009733127, -1.3708613585093699, 173 | -1.5707970583733368, 0.0009377758247187636] 174 | self.id = p.loadURDF('./urdf/ur5_robotiq_85.urdf', self.base_pos, self.base_ori, 175 | useFixedBase=True, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) 176 | self.gripper_range = [0, 0.085] 177 | 178 | def __post_load__(self): 179 | # To control the gripper 180 | mimic_parent_name = 'finger_joint' 181 | mimic_children_names = {'right_outer_knuckle_joint': 1, 182 | 'left_inner_knuckle_joint': 1, 183 | 'right_inner_knuckle_joint': 1, 184 | 'left_inner_finger_joint': -1, 185 | 'right_inner_finger_joint': -1} 186 | self.__setup_mimic_joints__(mimic_parent_name, mimic_children_names) 187 | 188 | def __setup_mimic_joints__(self, mimic_parent_name, mimic_children_names): 189 | self.mimic_parent_id = [joint.id for joint in self.joints if joint.name == mimic_parent_name][0] 190 | self.mimic_child_multiplier = {joint.id: mimic_children_names[joint.name] for joint in self.joints if joint.name in mimic_children_names} 191 | 192 | for joint_id, multiplier in self.mimic_child_multiplier.items(): 193 | c = p.createConstraint(self.id, self.mimic_parent_id, 194 | self.id, joint_id, 195 | jointType=p.JOINT_GEAR, 196 | jointAxis=[0, 1, 0], 197 | parentFramePosition=[0, 0, 0], 198 | childFramePosition=[0, 0, 0]) 199 | p.changeConstraint(c, gearRatio=-multiplier, maxForce=100, erp=1) # Note: the mysterious `erp` is of EXTREME importance 200 | 201 | def move_gripper(self, open_length): 202 | # open_length = np.clip(open_length, *self.gripper_range) 203 | open_angle = 0.715 - math.asin((open_length - 0.010) / 0.1143) # angle calculation 204 | # Control the mimic gripper joint(s) 205 | p.setJointMotorControl2(self.id, self.mimic_parent_id, p.POSITION_CONTROL, targetPosition=open_angle, 206 | force=self.joints[self.mimic_parent_id].maxForce, maxVelocity=self.joints[self.mimic_parent_id].maxVelocity) 207 | 208 | 209 | class UR5Robotiq140(UR5Robotiq85): 210 | def __init_robot__(self): 211 | self.eef_id = 7 212 | self.arm_num_dofs = 6 213 | self.arm_rest_poses = [-1.5690622952052096, -1.5446774605904932, 1.343946009733127, -1.3708613585093699, 214 | -1.5707970583733368, 0.0009377758247187636] 215 | self.id = p.loadURDF('./urdf/ur5_robotiq_140.urdf', self.base_pos, self.base_ori, 216 | useFixedBase=True, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES) 217 | self.gripper_range = [0, 0.085] 218 | # TODO: It's weird to use the same range and the same formula to calculate open_angle as Robotiq85. 219 | 220 | def __post_load__(self): 221 | mimic_parent_name = 'finger_joint' 222 | mimic_children_names = {'right_outer_knuckle_joint': -1, 223 | 'left_inner_knuckle_joint': -1, 224 | 'right_inner_knuckle_joint': -1, 225 | 'left_inner_finger_joint': 1, 226 | 'right_inner_finger_joint': 1} 227 | self.__setup_mimic_joints__(mimic_parent_name, mimic_children_names) 228 | -------------------------------------------------------------------------------- /urdf/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2013, ROS-Industrial 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, 5 | are permitted provided that the following conditions are met: 6 | 7 | Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | Redistributions in binary form must reproduce the above copyright notice, this 11 | list of conditions and the following disclaimer in the documentation and/or 12 | other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 15 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 16 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 21 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /urdf/objects/block.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /urdf/objects/table.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | Gazebo/Wood 34 | 35 | 36 | 37 | true 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /urdf/objects/ur5_stand.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | Gazebo/WoodPallet 26 | 1000 27 | 1000 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /urdf/panda.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | -------------------------------------------------------------------------------- /urdf/robotiq_140.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | Gazebo/Black 151 | True 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | Gazebo/Grey 178 | True 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | Gazebo/Grey 205 | True 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | Gazebo/Black 232 | False 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | Gazebo/Black 259 | False 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | Gazebo/Black 286 | False 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | Gazebo/Black 313 | False 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | Gazebo/Black 340 | True 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | Gazebo/Black 367 | True 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | -------------------------------------------------------------------------------- /urdf/robotiq_85.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | transmission_interface/SimpleTransmission 320 | 321 | PositionJointInterface 322 | 323 | 324 | 1 325 | 326 | 327 | 328 | 329 | -------------------------------------------------------------------------------- /urdf/skew-box-button.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | -------------------------------------------------------------------------------- /urdf/ur5.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | -------------------------------------------------------------------------------- /utilities.py: -------------------------------------------------------------------------------- 1 | import pybullet as p 2 | import glob 3 | from collections import namedtuple 4 | from attrdict import AttrDict 5 | import functools 6 | import torch 7 | import cv2 8 | from scipy import ndimage 9 | import numpy as np 10 | 11 | 12 | class Models: 13 | def load_objects(self): 14 | raise NotImplementedError 15 | 16 | def __len__(self): 17 | raise NotImplementedError 18 | 19 | def __getitem__(self, item): 20 | return NotImplementedError 21 | 22 | 23 | class YCBModels(Models): 24 | def __init__(self, root, selected_names: tuple = ()): 25 | self.obj_files = glob.glob(root) 26 | self.selected_names = selected_names 27 | 28 | self.visual_shapes = [] 29 | self.collision_shapes = [] 30 | 31 | def load_objects(self): 32 | shift = [0, 0, 0] 33 | mesh_scale = [1, 1, 1] 34 | 35 | for filename in self.obj_files: 36 | # Check selected_names 37 | if self.selected_names: 38 | in_selected = False 39 | for name in self.selected_names: 40 | if name in filename: 41 | in_selected = True 42 | if not in_selected: 43 | continue 44 | print('Loading %s' % filename) 45 | self.collision_shapes.append( 46 | p.createCollisionShape(shapeType=p.GEOM_MESH, 47 | fileName=filename, 48 | collisionFramePosition=shift, 49 | meshScale=mesh_scale)) 50 | self.visual_shapes.append( 51 | p.createVisualShape(shapeType=p.GEOM_MESH, 52 | fileName=filename, 53 | visualFramePosition=shift, 54 | meshScale=mesh_scale)) 55 | 56 | def __len__(self): 57 | return len(self.collision_shapes) 58 | 59 | def __getitem__(self, idx): 60 | return self.visual_shapes[idx], self.collision_shapes[idx] 61 | 62 | 63 | class Camera: 64 | def __init__(self, cam_pos, cam_tar, cam_up_vector, near, far, size, fov): 65 | self.width, self.height = size 66 | self.near, self.far = near, far 67 | self.fov = fov 68 | 69 | aspect = self.width / self.height 70 | self.view_matrix = p.computeViewMatrix(cam_pos, cam_tar, cam_up_vector) 71 | self.projection_matrix = p.computeProjectionMatrixFOV(self.fov, aspect, self.near, self.far) 72 | 73 | _view_matrix = np.array(self.view_matrix).reshape((4, 4), order='F') 74 | _projection_matrix = np.array(self.projection_matrix).reshape((4, 4), order='F') 75 | self.tran_pix_world = np.linalg.inv(_projection_matrix @ _view_matrix) 76 | 77 | def rgbd_2_world(self, w, h, d): 78 | x = (2 * w - self.width) / self.width 79 | y = -(2 * h - self.height) / self.height 80 | z = 2 * d - 1 81 | pix_pos = np.array((x, y, z, 1)) 82 | position = self.tran_pix_world @ pix_pos 83 | position /= position[3] 84 | 85 | return position[:3] 86 | 87 | def shot(self): 88 | # Get depth values using the OpenGL renderer 89 | _w, _h, rgb, depth, seg = p.getCameraImage(self.width, self.height, 90 | self.view_matrix, self.projection_matrix, 91 | ) 92 | return rgb, depth, seg 93 | 94 | def rgbd_2_world_batch(self, depth): 95 | # reference: https://stackoverflow.com/a/62247245 96 | x = (2 * np.arange(0, self.width) - self.width) / self.width 97 | x = np.repeat(x[None, :], self.height, axis=0) 98 | y = -(2 * np.arange(0, self.height) - self.height) / self.height 99 | y = np.repeat(y[:, None], self.width, axis=1) 100 | z = 2 * depth - 1 101 | 102 | pix_pos = np.array([x.flatten(), y.flatten(), z.flatten(), np.ones_like(z.flatten())]).T 103 | position = self.tran_pix_world @ pix_pos.T 104 | position = position.T 105 | # print(position) 106 | 107 | position[:, :] /= position[:, 3:4] 108 | 109 | return position[:, :3].reshape(*x.shape, -1) 110 | --------------------------------------------------------------------------------