├── LICENSE
├── README.md
├── demo.gif
├── demo.py
├── mesh
    ├── NOTICE
    ├── finger.obj
    ├── hand.obj
    ├── link0.mtl
    ├── link0.obj
    ├── link1.obj
    ├── link2.obj
    ├── link3.obj
    ├── link4.obj
    ├── link5.obj
    ├── link6.obj
    └── link7.obj
├── panda.xml
├── texture
    └── panda.png
└── world.xml


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/README.md:
--------------------------------------------------------------------------------
1 | # Panda Robot in MuJoCo
2 | This repository has been superseded by two alternative projects:
3 | 
4 | * [mujoco_menagerie](https://github.com/google-deepmind/mujoco_menagerie) includes a pure `MuJoCo` model of the Panda
5 | * [dm_robotics_panda](https://github.com/JeanElsner/dm_robotics_panda) Panda model and tools for reinforcement learning in `dm_robotics`
6 | 


--------------------------------------------------------------------------------
/demo.gif:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JeanElsner/panda_mujoco/e4e7bf5b085f5322e04abb933d1763ef60ae9c4f/demo.gif


--------------------------------------------------------------------------------
/demo.py:
--------------------------------------------------------------------------------
  1 | """Demonstrates the Franka Emika Robot System model for MuJoCo."""
  2 | 
  3 | import time
  4 | from threading import Thread
  5 | 
  6 | import glfw
  7 | import mujoco
  8 | import numpy as np
  9 | 
 10 | 
 11 | class Demo:
 12 | 
 13 |     qpos0 = [0, -0.785, 0, -2.356, 0, 1.571, 0.785]
 14 |     K = [600.0, 600.0, 600.0, 30.0, 30.0, 30.0]
 15 |     height, width = 480, 640  # Rendering window resolution.
 16 |     fps = 30  # Rendering framerate.
 17 | 
 18 |     def __init__(self) -> None:
 19 |         self.model = mujoco.MjModel.from_xml_path("world.xml")
 20 |         self.data = mujoco.MjData(self.model)
 21 |         self.cam = mujoco.MjvCamera()
 22 |         self.cam.type = mujoco.mjtCamera.mjCAMERA_FIXED
 23 |         self.cam.fixedcamid = 0
 24 |         self.scene = mujoco.MjvScene(self.model, maxgeom=10000)
 25 |         self.run = True
 26 |         self.gripper(True)
 27 |         for i in range(1, 8):
 28 |             self.data.joint(f"panda_joint{i}").qpos = self.qpos0[i - 1]
 29 |         mujoco.mj_forward(self.model, self.data)
 30 | 
 31 |     def gripper(self, open=True):
 32 |         self.data.actuator("pos_panda_finger_joint1").ctrl = (0.04, 0)[not open]
 33 |         self.data.actuator("pos_panda_finger_joint2").ctrl = (0.04, 0)[not open]
 34 | 
 35 |     def control(self, xpos_d, xquat_d):
 36 |         xpos = self.data.body("panda_hand").xpos
 37 |         xquat = self.data.body("panda_hand").xquat
 38 |         jacp = np.zeros((3, self.model.nv))
 39 |         jacr = np.zeros((3, self.model.nv))
 40 |         bodyid = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, "panda_hand")
 41 |         mujoco.mj_jacBody(self.model, self.data, jacp, jacr, bodyid)
 42 | 
 43 |         error = np.zeros(6)
 44 |         error[:3] = xpos_d - xpos
 45 |         res = np.zeros(3)
 46 |         mujoco.mju_subQuat(res, xquat, xquat_d)
 47 |         mujoco.mju_rotVecQuat(res, res, xquat)
 48 |         error[3:] = -res
 49 | 
 50 |         J = np.concatenate((jacp, jacr))
 51 |         v = J @ self.data.qvel
 52 |         for i in range(1, 8):
 53 |             dofadr = self.model.joint(f"panda_joint{i}").dofadr
 54 |             self.data.actuator(f"panda_joint{i}").ctrl = self.data.joint(
 55 |                 f"panda_joint{i}"
 56 |             ).qfrc_bias
 57 |             self.data.actuator(f"panda_joint{i}").ctrl += (
 58 |                 J[:, dofadr].T @ np.diag(self.K) @ error
 59 |             )
 60 |             self.data.actuator(f"panda_joint{i}").ctrl -= (
 61 |                 J[:, dofadr].T @ np.diag(2 * np.sqrt(self.K)) @ v
 62 |             )
 63 | 
 64 |     def step(self) -> None:
 65 |         xpos0 = self.data.body("panda_hand").xpos.copy()
 66 |         xpos_d = xpos0
 67 |         xquat0 = self.data.body("panda_hand").xquat.copy()
 68 |         down = list(np.linspace(-0.45, 0, 2000))
 69 |         up = list(np.linspace(0, -0.45, 2000))
 70 |         state = "down"
 71 |         while self.run:
 72 |             if state == "down":
 73 |                 if len(down):
 74 |                     xpos_d = xpos0 + [0, 0, down.pop()]
 75 |                 else:
 76 |                     state = "grasp"
 77 |             elif state == "grasp":
 78 |                 self.gripper(False)
 79 |                 state = "up"
 80 |             elif state == "up":
 81 |                 if len(up):
 82 |                     xpos_d = xpos0 + [0, 0, up.pop()]
 83 |             self.control(xpos_d, xquat0)
 84 |             mujoco.mj_step(self.model, self.data)
 85 |             time.sleep(1e-3)
 86 | 
 87 |     def render(self) -> None:
 88 |         glfw.init()
 89 |         glfw.window_hint(glfw.SAMPLES, 8)
 90 |         window = glfw.create_window(self.width, self.height, "Demo", None, None)
 91 |         glfw.make_context_current(window)
 92 |         self.context = mujoco.MjrContext(
 93 |             self.model, mujoco.mjtFontScale.mjFONTSCALE_100
 94 |         )
 95 |         opt = mujoco.MjvOption()
 96 |         pert = mujoco.MjvPerturb()
 97 |         viewport = mujoco.MjrRect(0, 0, self.width, self.height)
 98 |         while not glfw.window_should_close(window):
 99 |             w, h = glfw.get_framebuffer_size(window)
100 |             viewport.width = w
101 |             viewport.height = h
102 |             mujoco.mjv_updateScene(
103 |                 self.model,
104 |                 self.data,
105 |                 opt,
106 |                 pert,
107 |                 self.cam,
108 |                 mujoco.mjtCatBit.mjCAT_ALL,
109 |                 self.scene,
110 |             )
111 |             mujoco.mjr_render(viewport, self.scene, self.context)
112 |             time.sleep(1.0 / self.fps)
113 |             glfw.swap_buffers(window)
114 |             glfw.poll_events()
115 |         self.run = False
116 |         glfw.terminate()
117 | 
118 |     def start(self) -> None:
119 |         step_thread = Thread(target=self.step)
120 |         step_thread.start()
121 |         self.render()
122 | 
123 | 
124 | if __name__ == "__main__":
125 |     Demo().start()
126 | 


--------------------------------------------------------------------------------
/mesh/NOTICE:
--------------------------------------------------------------------------------
 1 | franka_ros
 2 | 
 3 | Copyright 2017 Franka Emika GmbH
 4 | 
 5 | Licensed under the Apache License, Version 2.0 (the "License");
 6 | you may not use this file except in compliance with the License.
 7 | You may obtain a copy of the License at
 8 | 
 9 |     http://www.apache.org/licenses/LICENSE-2.0
10 | 
11 | Unless required by applicable law or agreed to in writing, software
12 | distributed under the License is distributed on an "AS IS" BASIS,
13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 | See the License for the specific language governing permissions and
15 | limitations under the License.
16 | 


--------------------------------------------------------------------------------
/mesh/finger.obj:
--------------------------------------------------------------------------------
   1 | # Blender 3.1.0
   2 | # www.blender.org
   3 | mtllib finger.mtl
   4 | o node1
   5 | v -0.000900 0.009423 0.048367
   6 | v -0.003461 0.009426 0.045455
   7 | v 0.003367 0.009420 0.045796
   8 | v 0.002354 0.009420 0.047536
   9 | v 0.001210 0.009422 0.048205
  10 | v -0.002569 0.009414 0.047296
  11 | v -0.010405 0.018387 0.003964
  12 | v 0.010303 0.019675 0.004000
  13 | v -0.010307 0.019704 0.004000
  14 | v -0.010328 0.017411 0.006312
  15 | v 0.010338 0.017411 0.006348
  16 | v -0.010350 0.002563 0.001800
  17 | v -0.010464 0.008072 0.001741
  18 | v -0.010366 0.002524 0.000133
  19 | v -0.010338 0.008029 0.003838
  20 | v -0.010498 0.010668 0.003808
  21 | v -0.010375 0.011577 0.017773
  22 | v -0.010379 0.012792 0.018852
  23 | v -0.010402 0.017414 0.004770
  24 | v -0.010333 0.016215 0.018827
  25 | v -0.010501 0.017036 0.017714
  26 | v -0.010464 0.020754 0.001741
  27 | v -0.010256 0.020798 0.003920
  28 | v -0.010391 0.026304 0.000164
  29 | v -0.010350 0.026263 0.001800
  30 | v -0.005033 0.005965 0.003875
  31 | v 0.006784 0.007870 0.003922
  32 | v 0.010339 0.008029 0.003838
  33 | v -0.006688 0.007826 0.003913
  34 | v -0.004875 0.002588 0.003875
  35 | v 0.004875 0.002538 0.003825
  36 | v 0.004882 0.006314 0.003998
  37 | v 0.010350 0.002563 0.001800
  38 | v 0.004862 0.002482 0.001761
  39 | v 0.010378 0.002535 0.000153
  40 | v -0.004861 0.002482 0.001761
  41 | v 0.010389 0.026280 0.000133
  42 | v 0.004901 0.026345 0.001761
  43 | v 0.010350 0.026263 0.001800
  44 | v -0.004838 0.026298 0.003838
  45 | v 0.004839 0.026252 0.003885
  46 | v -0.004913 0.026315 0.001779
  47 | v -0.004740 0.023087 0.003992
  48 | v 0.004737 0.023113 0.003990
  49 | v 0.010398 0.011407 0.004752
  50 | v -0.010403 0.011445 0.004799
  51 | v 0.010383 0.012612 0.018800
  52 | v 0.010269 0.020763 0.003932
  53 | v 0.010459 0.020803 0.001745
  54 | v 0.010465 0.008072 0.001741
  55 | v 0.010498 0.010654 0.003799
  56 | v 0.010409 0.011617 0.017719
  57 | v 0.010499 0.017232 0.004730
  58 | v 0.010328 0.016056 0.018873
  59 | v 0.010402 0.018212 0.003998
  60 | v 0.010502 0.017036 0.017714
  61 | v 0.007073 0.021006 0.001900
  62 | v 0.005207 0.022541 0.001900
  63 | v 0.005031 0.023349 0.003701
  64 | v 0.005556 0.022134 0.003700
  65 | v 0.006974 0.021021 0.003699
  66 | v 0.005151 0.006139 0.001900
  67 | v 0.006993 0.007813 0.001900
  68 | v 0.005121 0.005962 0.003694
  69 | v -0.005206 0.022541 0.001900
  70 | v -0.007105 0.020991 0.001900
  71 | v -0.006963 0.021030 0.003689
  72 | v -0.005556 0.022134 0.003700
  73 | v -0.005031 0.023340 0.003703
  74 | v -0.005051 0.005645 0.001900
  75 | v -0.005778 0.006963 0.001900
  76 | v -0.007155 0.007844 0.001900
  77 | v 0.010213 0.010281 0.004018
  78 | v -0.010210 0.010258 0.004015
  79 | v 0.010206 0.017442 0.005110
  80 | v 0.010198 0.017334 0.017770
  81 | v -0.010194 0.017350 0.017681
  82 | v -0.006566 0.020819 0.003997
  83 | v 0.006603 0.020795 0.003997
  84 | v -0.010293 0.023166 0.004009
  85 | v -0.010389 0.025220 0.019188
  86 | v 0.010400 0.025253 0.019037
  87 | v -0.008802 0.015652 0.035926
  88 | v 0.008804 0.015668 0.035909
  89 | v -0.008749 0.014412 0.036005
  90 | v 0.008747 0.014412 0.036004
  91 | v -0.005330 0.014302 0.053810
  92 | v -0.007802 0.014238 0.052291
  93 | v 0.006547 0.014291 0.053246
  94 | v 0.004800 0.014331 0.053832
  95 | v 0.008538 0.014414 0.050534
  96 | v -0.008657 0.014413 0.049832
  97 | v -0.007084 0.009504 0.052821
  98 | v -0.008779 0.009461 0.050118
  99 | v -0.005468 0.009491 0.053747
 100 | v -0.008745 0.009414 0.036004
 101 | v -0.003062 0.009426 0.043491
 102 | v 0.005491 0.009412 0.053558
 103 | v 0.007738 0.009533 0.052245
 104 | v 0.008802 0.009508 0.050203
 105 | v 0.008749 0.009414 0.036005
 106 | v -0.009015 0.008044 0.035742
 107 | v 0.009010 0.008125 0.035845
 108 | v -0.010193 0.017399 0.019251
 109 | v 0.008962 0.008021 0.035579
 110 | v 0.010188 0.017393 0.019253
 111 | v -0.010362 0.025305 0.006144
 112 | v 0.010382 0.025262 0.006119
 113 | v 0.010294 0.023166 0.004009
 114 | v -0.010479 0.017678 0.019324
 115 | v -0.009055 0.015468 0.035708
 116 | v -0.009049 0.009712 0.035735
 117 | v -0.009055 0.014105 0.035728
 118 | v 0.008973 0.014113 0.049681
 119 | v 0.009050 0.009716 0.035736
 120 | v 0.009056 0.015468 0.035708
 121 | v 0.009056 0.014109 0.035727
 122 | v 0.010480 0.017678 0.019324
 123 | v -0.008395 0.009713 0.051461
 124 | v -0.008945 0.014110 0.049960
 125 | v 0.008197 0.014115 0.051853
 126 | v 0.005532 0.009717 0.053858
 127 | v -0.001954 0.009418 0.042156
 128 | v 0.003168 0.009425 0.043772
 129 | v -0.000002 0.012805 0.044994
 130 | v 0.000144 0.009433 0.041511
 131 | v 0.001943 0.009422 0.042194
 132 | v -0.009823 0.017502 0.011108
 133 | v -0.008970 0.017535 0.009498
 134 | v -0.008382 0.020413 0.008978
 135 | v -0.006987 0.020413 0.015642
 136 | v -0.007581 0.017713 0.015459
 137 | v -0.007903 0.017713 0.008742
 138 | v -0.008937 0.020413 0.014486
 139 | v -0.006166 0.017719 0.008207
 140 | v -0.006000 0.020413 0.008208
 141 | v -0.009010 0.017713 0.014274
 142 | v -0.009712 0.017718 0.012743
 143 | v -0.009829 0.020413 0.011614
 144 | v -0.008164 0.017414 0.015489
 145 | v -0.002160 0.017714 0.011790
 146 | v -0.001917 0.017415 0.012880
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 905 | vn -0.5419 0.8174 -0.1955
 906 | vn -0.0532 0.9883 -0.1429
 907 | vn -0.0429 0.9990 0.0118
 908 | vn -0.0304 0.9967 0.0753
 909 | vn 0.0003 1.0000 -0.0002
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 911 | vn -0.0084 -0.8199 0.5724
 912 | vn -0.0077 -0.8197 -0.5727
 913 | vn -0.0065 -0.8181 -0.5750
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 915 | vn 0.0071 -0.8178 -0.5754
 916 | vn 0.0071 -0.8173 0.5761
 917 | vn 0.0081 -0.8188 0.5740
 918 | vt 0.784090 0.874435
 919 | vt 0.912810 0.771672
 920 | vt 0.905485 0.797933
 921 | vt 0.823121 0.851089
 922 | vt 0.906176 0.728674
 923 | vt 0.807510 0.873922
 924 | vt 0.910617 0.738767
 925 | vt 0.789443 0.874435
 926 | vt 0.912344 0.750302
 927 | vt 0.910133 0.788695
 928 | vt 0.973590 0.219475
 929 | vt 0.868229 0.391702
 930 | vt 0.972283 0.429878
 931 | vt 0.926888 0.673606
 932 | vt 0.784225 0.556757
 933 | vt 0.970258 0.220973
 934 | vt 0.926820 0.882676
 935 | vt 0.871565 0.391322
 936 | vt 0.962855 0.854868
 937 | vt 0.781581 0.728127
 938 | vt 0.865759 0.367864
 939 | vt 0.932925 0.882803
 940 | vt 0.780362 0.728905
 941 | vt 0.960745 0.645392
 942 | vt 0.781581 0.729083
 943 | vt 0.932925 0.673158
 944 | vt 0.789977 0.532961
 945 | vt 0.828063 0.413427
 946 | vt 0.975087 0.431456
 947 | vt 0.902458 0.220628
 948 | vt 0.842047 0.414130
 949 | vt 0.902458 0.164769
 950 | vt 0.867458 0.834383
 951 | vt 0.827957 0.430329
 952 | vt 0.979317 0.431285
 953 | vt 0.881048 0.672202
 954 | vt 0.841940 0.392824
 955 | vt 0.862149 0.836387
 956 | vt 0.948486 0.428649
 957 | vt 0.848646 0.393214
 958 | vt 0.955180 0.430329
 959 | vt 0.851014 0.251602
 960 | vt 0.779372 0.596892
 961 | vt 0.966887 0.642175
 962 | vt 0.854104 0.240676
 963 | vt 0.776219 0.597601
 964 | vt 0.865763 0.383523
 965 | vt 0.976002 0.219230
 966 | vt 0.966770 0.855016
 967 | vt 0.862786 0.240952
 968 | vt 0.767554 0.599828
 969 | vt 0.982545 0.432373
 970 | vt 0.864872 0.252304
 971 | vt 0.780670 0.612571
 972 | vt 0.933937 0.861066
 973 | vt 0.979628 0.431285
 974 | vt 0.874228 0.414290
 975 | vt 0.930650 0.222638
 976 | vt 0.779372 0.863356
 977 | vt 0.773860 0.860851
 978 | vt 0.797230 0.782281
 979 | vt 0.874337 0.392127
 980 | vt 0.888298 0.430329
 981 | vt 0.976507 0.853929
 982 | vt 0.880960 0.431285
 983 | vt 0.888200 0.413725
 984 | vt 0.972353 0.853538
 985 | vt 0.930650 0.166747
 986 | vt 0.943279 0.374788
 987 | vt 0.846443 0.856492
 988 | vt 0.853415 0.875402
 989 | vt 0.875466 0.849679
 990 | vt 0.948173 0.254953
 991 | vt 0.813783 0.558498
 992 | vt 0.875410 0.885668
 993 | vt 0.948586 0.218905
 994 | vt 0.947994 0.391613
 995 | vt 0.846408 0.875718
 996 | vt 0.862270 0.873467
 997 | vt 0.934713 0.373104
 998 | vt 0.969834 0.486972
 999 | vt 0.846443 0.822210
1000 | vt 0.934629 0.274205
1001 | vt 0.969984 0.585833
1002 | vt 0.853091 0.821237
1003 | vt 0.853003 0.859583
1004 | vt 0.944222 0.274200
1005 | vt 0.975136 0.641308
1006 | vt 0.827650 0.579221
1007 | vt 0.916620 0.166737
1008 | vt 0.975221 0.585696
1009 | vt 0.902697 0.164769
1010 | vt 0.858318 0.819904
1011 | vt 0.979317 0.641585
1012 | vt 0.933698 0.671963
1013 | vt 0.827718 0.595936
1014 | vt 0.975198 0.487127
1015 | vt 0.888537 0.222638
1016 | vt 0.841082 0.821152
1017 | vt 0.976507 0.643131
1018 | vt 0.933698 0.431377
1019 | vt 0.767455 0.595936
1020 | vt 0.972405 0.698832
1021 | vt 0.934629 0.216395
1022 | vt 0.869789 0.834383
1023 | vt 0.972278 0.643550
1024 | vt 0.767501 0.579025
1025 | vt 0.948454 0.214467
1026 | vt 0.967166 0.797657
1027 | vt 0.794913 0.880584
1028 | vt 0.838539 0.856765
1029 | vt 0.967010 0.699491
1030 | vt 0.838539 0.758598
1031 | vt 0.875171 0.836069
1032 | vt 0.972391 0.798388
1033 | vt 0.916859 0.165088
1034 | vt 0.789682 0.880584
1035 | vt 0.847665 0.843479
1036 | vt 0.830404 0.855599
1037 | vt 0.803219 0.837913
1038 | vt 0.858557 0.817920
1039 | vt 0.852763 0.880696
1040 | vt 0.830581 0.759467
1041 | vt 0.875171 0.867934
1042 | vt 0.888537 0.162348
1043 | vt 0.805042 0.820424
1044 | vt 0.812661 0.781581
1045 | vt 0.861910 0.913120
1046 | vt 0.842290 0.431285
1047 | vt 0.933937 0.431285
1048 | vt 0.957220 0.218289
1049 | vt 0.805211 0.549214
1050 | vt 0.933959 0.642175
1051 | vt 0.957220 0.429288
1052 | vt 0.850617 0.383150
1053 | vt 0.802179 0.406709
1054 | vt 0.779372 0.807833
1055 | vt 0.969595 0.432137
1056 | vt 0.767455 0.812334
1057 | vt 0.806582 0.837466
1058 | vt 0.781464 0.557434
1059 | vt 0.781358 0.579644
1060 | vt 0.948454 0.159067
1061 | vt 0.772995 0.810017
1062 | vt 0.813668 0.579790
1063 | vt 0.916620 0.222595
1064 | vt 0.880721 0.887565
1065 | vt 0.807119 0.558900
1066 | vt 0.955244 0.217351
1067 | vt 0.804702 0.417690
1068 | vt 0.966847 0.431486
1069 | vt 0.964814 0.643131
1070 | vt 0.790425 0.549400
1071 | vt 0.770633 0.809061
1072 | vt 0.793438 0.405926
1073 | vt 0.976002 0.430329
1074 | vt 0.966770 0.643823
1075 | vt 0.787937 0.556809
1076 | vt 0.780811 0.844419
1077 | vt 0.790948 0.417702
1078 | vt 0.939878 0.161858
1079 | vt 0.772771 0.844385
1080 | vt 0.935219 0.177804
1081 | vt 0.772995 0.863318
1082 | vt 0.869802 0.872983
1083 | vt 0.874446 0.865428
1084 | vt 0.889475 0.162348
1085 | vt 0.874319 0.877715
1086 | vt 0.768377 0.860088
1087 | vt 0.888627 0.149361
1088 | vt 0.804298 0.830343
1089 | vt 0.806343 0.838711
1090 | vt 0.806343 0.820424
1091 | vt 0.768215 0.845707
1092 | vt 0.903243 0.201938
1093 | vt 0.880721 0.834383
1094 | vt 0.858318 0.857033
1095 | vt 0.907827 0.219293
1096 | vt 0.880581 0.852427
1097 | vt 0.853751 0.855908
1098 | vt 0.943308 0.271800
1099 | vt 0.917399 0.203375
1100 | vt 0.779372 0.810017
1101 | vt 0.790046 0.842385
1102 | vt 0.922134 0.219487
1103 | vt 0.779144 0.829253
1104 | vt 0.774618 0.827497
1105 | vt 0.958251 0.087233
1106 | vt 0.774754 0.813234
1107 | vt 0.794591 0.838494
1108 | vt 0.958251 0.069086
1109 | vt 0.846916 0.833914
1110 | vt 0.827957 0.863851
1111 | vt 0.794617 0.850617
1112 | vt 0.831023 0.858594
1113 | vt 0.888848 0.190497
1114 | vt 0.841430 0.853266
1115 | vt 0.890622 0.176975
1116 | vt 0.841375 0.866792
1117 | vt 0.867458 0.882325
1118 | vt 0.894070 0.167753
1119 | vt 0.867336 0.868048
1120 | vt 0.808067 0.556643
1121 | vt 0.954313 0.220217
1122 | vt 0.847591 0.391018
1123 | vt 0.954155 0.427381
1124 | vt 0.789897 0.545504
1125 | vt 0.963900 0.646241
1126 | vt 0.982545 0.640939
1127 | vt 0.767455 0.808279
1128 | vt 0.781581 0.844914
1129 | vt 0.934390 0.430329
1130 | vt 0.790195 0.417084
1131 | vt 0.979556 0.434420
1132 | vt 0.934390 0.223594
1133 | vt 0.781451 0.612809
1134 | vt 0.773834 0.823410
1135 | vt 0.957219 0.085307
1136 | vt 0.847665 0.820860
1137 | vt 0.797405 0.819711
1138 | vt 0.805042 0.843849
1139 | vt 0.805332 0.822006
1140 | vt 0.767455 0.849528
1141 | vt 0.806742 0.800284
1142 | vt 0.803219 0.781581
1143 | vt 0.847927 0.827788
1144 | vt 0.880348 0.391269
1145 | vt 0.880721 0.584439
1146 | vt 0.885641 0.237433
1147 | vt 0.827957 0.583096
1148 | vt 0.770095 0.404207
1149 | vt 0.876717 0.757642
1150 | vt 0.861359 0.067079
1151 | vt 0.976775 0.645721
1152 | vt 0.832033 0.757642
1153 | vt 0.794473 0.232892
1154 | vt 0.976746 0.824313
1155 | vt 0.827045 0.777516
1156 | vt 0.979915 0.646273
1157 | vt 0.979926 0.823744
1158 | vt 0.827042 0.600036
1159 | vt 0.781874 0.742856
1160 | vt 0.957682 0.118444
1161 | vt 0.957984 0.093228
1162 | vt 0.969524 0.261978
1163 | vt 0.785720 0.767924
1164 | vt 0.957578 0.238865
1165 | vt 0.783301 0.622371
1166 | vt 0.781820 0.640085
1167 | vt 0.957459 0.221209
1168 | vt 0.797686 0.084524
1169 | vt 0.790191 0.602170
1170 | vt 0.791973 0.776598
1171 | vt 0.970019 0.287192
1172 | vt 0.969948 0.100846
1173 | vt 0.957472 0.256436
1174 | vt 0.924273 0.833934
1175 | vt 0.957459 0.284411
1176 | vt 0.917455 0.851380
1177 | vt 0.926581 0.817448
1178 | vt 0.969893 0.117336
1179 | vt 0.881636 0.852465
1180 | vt 0.979736 0.427217
1181 | vt 0.827718 0.843229
1182 | vt 0.900490 0.794090
1183 | vt 0.925820 0.706347
1184 | vt 0.969948 0.228485
1185 | vt 0.810085 0.067079
1186 | vt 0.969700 0.251137
1187 | vt 0.922432 0.683750
1188 | vt 0.917221 0.673158
1189 | vt 0.810133 0.087964
1190 | vt 0.881189 0.675122
1191 | vt 0.979725 0.249758
1192 | vt 0.810347 0.231968
1193 | vt 0.933223 0.734575
1194 | vt 0.976241 0.429982
1195 | vt 0.842064 0.068914
1196 | vt 0.888598 0.239767
1197 | vt 0.813615 0.233640
1198 | vt 0.976443 0.247128
1199 | vt 0.888537 0.422473
1200 | vt 0.930406 0.223658
1201 | vt 0.781581 0.596892
1202 | vt 0.865786 0.236628
1203 | vt 0.779612 0.597670
1204 | vt 0.813879 0.236328
1205 | vt 0.889212 0.422019
1206 | vt 0.930626 0.430274
1207 | vt 0.790049 0.402039
1208 | vt 0.885790 0.369669
1209 | vt 0.861910 0.758598
1210 | vt 0.880620 0.452179
1211 | vt 0.852763 0.819904
1212 | vt 0.770050 0.535234
1213 | vt 0.827973 0.452132
1214 | vt 0.812661 0.837956
1215 | vt 0.828187 0.431513
1216 | vt 0.775367 0.556635
1217 | vt 0.866509 0.235990
1218 | vt 0.780362 0.596892
1219 | vt 0.860905 0.069366
1220 | vt 0.977256 0.643131
1221 | vt 0.933165 0.717669
1222 | vt 0.958138 0.430329
1223 | vt 0.880960 0.855685
1224 | vt 0.980472 0.430329
1225 | vt 0.933223 0.673158
1226 | vt 0.857446 0.069144
1227 | vt 0.827718 0.780625
1228 | vt 0.969285 0.430329
1229 | vt 0.980714 0.643133
1230 | vt 0.792326 0.597750
1231 | vt 0.798443 0.093242
1232 | vt 0.980472 0.246732
1233 | vt 0.809576 0.234740
1234 | vt 0.794977 0.234975
1235 | vt 0.977267 0.826853
1236 | vt 0.798427 0.234794
1237 | vt 0.980714 0.826857
1238 | vt 0.827718 0.596892
1239 | vt 0.789321 0.401365
1240 | vt 0.958074 0.270661
1241 | vt 0.920855 0.847435
1242 | vt 0.791621 0.779523
1243 | vt 0.969264 0.285995
1244 | vt 0.958097 0.255480
1245 | vt 0.798452 0.071091
1246 | vt 0.786818 0.605624
1247 | vt 0.926581 0.706011
1248 | vt 0.969153 0.228913
1249 | vt 0.897073 0.782989
1250 | vt 0.803219 0.874037
1251 | vt 0.812661 0.873922
1252 | vt 0.901045 0.730906
1253 | vt 0.786364 0.838494
1254 | vt 0.809860 0.838912
1255 | vt 0.827718 0.880677
1256 | vt 0.798207 0.838869
1257 | vt 0.904240 0.764154
1258 | vt 0.797911 0.874037
1259 | vt 0.895382 0.761790
1260 | vt 0.897070 0.743481
1261 | vt 0.782041 0.803422
1262 | vt 0.909324 0.092906
1263 | vt 0.782133 0.786957
1264 | vt 0.908583 0.111153
1265 | vt 0.820453 0.842273
1266 | vt 0.789443 0.781581
1267 | vt 0.827718 0.836370
1268 | vt 0.941650 0.148405
1269 | vt 0.956355 0.176629
1270 | vt 0.943488 0.079734
1271 | vt 0.949534 0.170591
1272 | vt 0.959475 0.087233
1273 | vt 0.847665 0.797786
1274 | vt 0.779619 0.815238
1275 | vt 0.820850 0.831521
1276 | vt 0.956980 0.087233
1277 | vt 0.956501 0.156802
1278 | vt 0.789443 0.837538
1279 | vt 0.947291 0.096970
1280 | vt 0.956980 0.068810
1281 | vt 0.954904 0.134560
1282 | vt 0.850279 0.802180
1283 | vt 0.820829 0.813958
1284 | vt 0.827664 0.812280
1285 | vt 0.935299 0.148405
1286 | vt 0.949683 0.156046
1287 | vt 0.782588 0.835408
1288 | vt 0.959475 0.068411
1289 | vt 0.963014 0.084443
1290 | vt 0.839847 0.838236
1291 | vt 0.839847 0.821152
1292 | vt 0.782591 0.819992
1293 | vt 0.789430 0.808549
1294 | vt 0.947200 0.127472
1295 | vt 0.958490 0.082964
1296 | vt 0.963775 0.072265
1297 | vt 0.780400 0.821111
1298 | vt 0.919394 0.067633
1299 | vt 0.932254 0.181721
1300 | vt 0.848756 0.758598
1301 | vt 0.779612 0.750547
1302 | vt 0.812900 0.813931
1303 | vt 0.930889 0.171774
1304 | vt 0.960479 0.068411
1305 | vt 0.928039 0.126975
1306 | vt 0.780373 0.761685
1307 | vt 0.963775 0.091407
1308 | vt 0.838778 0.828484
1309 | vt 0.781820 0.828457
1310 | vt 0.913144 0.073040
1311 | vt 0.932254 0.159118
1312 | vt 0.934051 0.197702
1313 | vt 0.959714 0.078881
1314 | vt 0.812940 0.792377
1315 | vt 0.933181 0.183580
1316 | vt 0.960479 0.091407
1317 | vt 0.948807 0.212455
1318 | vt 0.928481 0.098829
1319 | vt 0.934051 0.182677
1320 | vt 0.813000 0.781581
1321 | vt 0.949588 0.209372
1322 | vt 0.847665 0.819904
1323 | vt 0.949512 0.192536
1324 | vt 0.948693 0.190114
1325 | vt 0.846682 0.818094
1326 | vt 0.780400 0.795675
1327 | vt 0.925416 0.077932
1328 | vt 0.922017 0.148405
1329 | vt 0.961476 0.091407
1330 | vt 0.846682 0.777796
1331 | vt 0.780373 0.729861
1332 | vt 0.909628 0.131326
1333 | vt 0.820050 0.826904
1334 | vt 0.955910 0.080908
1335 | vt 0.955686 0.121616
1336 | vt 0.914803 0.148405
1337 | vt 0.961476 0.068241
1338 | vt 0.955686 0.148405
1339 | vt 0.849098 0.788939
1340 | vt 0.848756 0.796830
1341 | vt 0.960718 0.074034
1342 | vt 0.850279 0.782157
1343 | vt 0.820832 0.794387
1344 | vt 0.847620 0.780701
1345 | vt 0.820919 0.781581
1346 | vt 0.812929 0.835138
1347 | vt 0.956501 0.216395
1348 | vt 0.819811 0.786936
1349 | vt 0.933115 0.078639
1350 | vt 0.827718 0.788033
1351 | vt 0.819811 0.842968
1352 | vt 0.930151 0.133535
1353 | vt 0.956346 0.194305
1354 | vt 0.939343 0.073576
1355 | vt 0.819748 0.815755
1356 | vt 0.928720 0.103575
1357 | vt 0.954665 0.082112
1358 | vt 0.789682 0.794917
1359 | vt 0.898703 0.067079
1360 | vt 0.932942 0.222638
1361 | vt 0.796991 0.781581
1362 | vt 0.947530 0.094278
1363 | vt 0.875080 0.833427
1364 | vt 0.858172 0.779182
1365 | vt 0.876918 0.764756
1366 | vt 0.851350 0.773143
1367 | vt 0.806343 0.819468
1368 | vt 0.933776 0.159603
1369 | vt 0.779612 0.778115
1370 | vt 0.954425 0.098473
1371 | vt 0.931788 0.200514
1372 | vt 0.858318 0.759355
1373 | vt 0.796991 0.837538
1374 | vt 0.880721 0.781992
1375 | vt 0.932942 0.182677
1376 | vt 0.955925 0.140660
1377 | vt 0.956945 0.108212
1378 | vt 0.954551 0.116029
1379 | vt 0.947728 0.118357
1380 | vt 0.868728 0.833427
1381 | vt 0.851499 0.758598
1382 | vt 0.790136 0.835408
1383 | vt 0.805269 0.801142
1384 | vt 0.789846 0.817360
1385 | vt 0.806343 0.781581
1386 | vt 0.904083 0.073975
1387 | vt 0.796978 0.808549
1388 | vt 0.880629 0.812494
1389 | vt 0.804298 0.802902
1390 | vt 0.780365 0.794720
1391 | vt 0.908344 0.089240
1392 | vt 0.954904 0.091467
1393 | vt 0.850265 0.781202
1394 | vt 0.934382 0.200074
1395 | vt 0.839532 0.791159
1396 | vt 0.955671 0.082112
1397 | vt 0.891753 0.138114
1398 | vt 0.780387 0.844092
1399 | vt 0.933181 0.208277
1400 | vt 0.955671 0.108212
1401 | vt 0.849098 0.765111
1402 | vt 0.838778 0.774406
1403 | vt 0.897772 0.148405
1404 | vt 0.850265 0.758598
1405 | vt 0.839572 0.769605
1406 | vt 0.903069 0.141973
1407 | vt 0.839322 0.758598
1408 | vt 0.851100 0.813137
1409 | vt 0.933776 0.181721
1410 | vt 0.851329 0.795088
1411 | vt 0.850504 0.788541
1412 | vt 0.932494 0.175910
1413 | vt 0.780365 0.762641
1414 | vt 0.908344 0.124817
1415 | vt 0.888874 0.094547
1416 | vt 0.848756 0.797786
1417 | vt 0.956710 0.148405
1418 | vt 0.955910 0.101092
1419 | vt 0.888537 0.115289
1420 | vt 0.848756 0.817113
1421 | vt 0.961715 0.085053
1422 | vt 0.780387 0.822067
1423 | vt 0.892278 0.073734
1424 | vt 0.930889 0.197340
1425 | vt 0.956710 0.123772
1426 | vt 0.847994 0.809661
1427 | vt 0.962775 0.091407
1428 | vt 0.956945 0.088189
1429 | vt 0.954665 0.135594
1430 | vt 0.962775 0.074650
1431 | vt 0.779619 0.832194
1432 | vt 0.934382 0.222638
1433 | vt 0.954654 0.148405
1434 | vt 0.839561 0.812366
1435 | vt 0.858318 0.818948
1436 | vt 0.846443 0.764164
1437 | vt 0.866544 0.763661
1438 | vt 0.947818 0.142601
1439 | vt 0.846443 0.820197
1440 | vt 0.863580 0.818557
1441 | vt 0.858162 0.796858
1442 | vt 0.872772 0.758598
1443 | vt 0.846380 0.792983
1444 | vt 0.862149 0.788598
1445 | vt 0.602168 0.844841
1446 | vt 0.484905 0.728901
1447 | vt 0.614455 0.918432
1448 | vt 0.403653 0.587679
1449 | vt 0.602335 0.890119
1450 | vt 0.484924 0.772424
1451 | vt 0.403730 0.550685
1452 | vt 0.609707 0.821490
1453 | vt 0.403695 0.545630
1454 | vt 0.484924 0.701272
1455 | vt 0.621143 0.809406
1456 | vt 0.403582 0.520325
1457 | vt 0.610393 0.839696
1458 | vt 0.396514 0.906236
1459 | vt 0.474077 0.794001
1460 | vt 0.612989 0.898851
1461 | vt 0.474213 0.862179
1462 | vt 0.474401 0.849540
1463 | vt 0.606607 0.871017
1464 | vt 0.474316 0.826741
1465 | vt 0.619632 0.826256
1466 | vt 0.396401 0.886824
1467 | vt 0.407136 0.834082
1468 | vt 0.456154 0.890332
1469 | vt 0.644198 0.950669
1470 | vt 0.485003 0.877917
1471 | vt 0.664774 0.904457
1472 | vt 0.407102 0.854966
1473 | vt 0.649900 0.973026
1474 | vt 0.456154 0.839963
1475 | vt 0.485092 0.905539
1476 | vt 0.653245 0.905396
1477 | vt 0.456100 0.864152
1478 | vt 0.645753 0.924299
1479 | vt 0.672928 0.656805
1480 | vt 0.654216 0.972554
1481 | vt 0.442684 0.832026
1482 | vt 0.683732 0.655806
1483 | vt 0.665717 0.971813
1484 | vt 0.695689 0.656824
1485 | vt 0.665080 0.911749
1486 | vt 0.429436 0.833176
1487 | vt 0.684168 0.657299
1488 | vt 0.673232 0.942640
1489 | vt 0.392838 0.425630
1490 | vt 0.415183 0.243886
1491 | vt 0.393089 0.454114
1492 | vt 0.392783 0.467609
1493 | vt 0.426263 0.223123
1494 | vt 0.385337 0.179678
1495 | vt 0.392813 0.584544
1496 | vt 0.392819 0.628255
1497 | vt 0.392864 0.358878
1498 | vt 0.388881 0.223256
1499 | vt 0.430361 0.189215
1500 | vt 0.392760 0.501274
1501 | vt 0.392760 0.393422
1502 | vt 0.402549 0.245556
1503 | vt 0.613081 0.657305
1504 | vt 0.543197 0.354189
1505 | vt 0.473640 0.357765
1506 | vt 0.473640 0.358878
1507 | vt 0.543197 0.690674
1508 | vt 0.473640 0.021197
1509 | vt 0.706957 0.657305
1510 | vt 0.666034 0.516332
1511 | vt 0.604733 0.067263
1512 | vt 0.711041 0.515609
1513 | vt 0.661343 0.657305
1514 | vt 0.646065 0.941663
1515 | vt 0.724333 0.655307
1516 | vt 0.706520 0.514748
1517 | vt 0.604733 0.021197
1518 | vt 0.724333 0.514408
1519 | vt 0.706520 0.655808
1520 | vt 0.653579 0.912491
1521 | vt 0.403478 0.482738
1522 | vt 0.635337 0.819721
1523 | vt 0.474552 0.277472
1524 | vt 0.674246 0.311298
1525 | vt 0.404185 0.568712
1526 | vt 0.522066 0.351866
1527 | vt 0.404353 0.483095
1528 | vt 0.555670 0.352358
1529 | vt 0.474619 0.143474
1530 | vt 0.674394 0.177324
1531 | vt 0.503025 0.022489
1532 | vt 0.543755 0.397200
1533 | vt 0.543690 0.447450
1534 | vt 0.522755 0.021846
1535 | vt 0.604017 0.145126
1536 | vt 0.474077 0.479746
1537 | vt 0.555900 0.145034
1538 | vt 0.543818 0.533139
1539 | vt 0.556390 0.022282
1540 | vt 0.522390 0.229506
1541 | vt 0.474440 0.228966
1542 | vt 0.674394 0.262808
1543 | vt 0.474077 0.186210
1544 | vt 0.662605 0.220091
1545 | vt 0.539189 0.187094
1546 | vt 0.604296 0.187977
1547 | vt 0.485886 0.522548
1548 | vt 0.603843 0.230746
1549 | vt 0.474096 0.565345
1550 | vt 0.555749 0.229679
1551 | vt 0.522568 0.144237
1552 | vt 0.475804 0.078977
1553 | vt 0.674023 0.112779
1554 | vt 0.347821 0.060067
1555 | vt 0.473640 0.679402
1556 | vt 0.604882 0.349334
1557 | vt 0.354562 0.337609
1558 | vt 0.604733 0.071561
1559 | vt 0.613081 0.354189
1560 | vt 0.392536 0.124574
1561 | vt 0.702552 0.507092
1562 | vt 0.366544 0.023939
1563 | vt 0.473404 0.631734
1564 | vt 0.402323 0.115562
1565 | vt 0.712334 0.507315
1566 | vt 0.567076 0.959278
1567 | vt 0.436738 0.203256
1568 | vt 0.424805 0.830384
1569 | vt 0.728386 0.356519
1570 | vt 0.410316 0.132243
1571 | vt 0.474077 0.729064
1572 | vt 0.436763 0.175661
1573 | vt 0.563457 0.959644
1574 | vt 0.674831 0.353076
1575 | vt 0.433226 0.150731
1576 | vt 0.553595 0.959432
1577 | vt 0.341926 0.100364
1578 | vt 0.604997 0.309271
1579 | vt 0.378734 0.203305
1580 | vt 0.362521 0.962764
1581 | vt 0.674831 0.202088
1582 | vt 0.382270 0.228240
1583 | vt 0.352682 0.962555
1584 | vt 0.481475 0.319623
1585 | vt 0.404330 0.672268
1586 | vt 0.674129 0.353076
1587 | vt 0.499536 0.350014
1588 | vt 0.404258 0.626121
1589 | vt 0.413290 0.048310
1590 | vt 0.391798 0.659755
1591 | vt 0.489980 0.963927
1592 | vt 0.390527 0.509862
1593 | vt 0.491249 0.814034
1594 | vt 0.660907 0.657305
1595 | vt 0.515031 0.813941
1596 | vt 0.718925 0.352293
1597 | vt 0.660624 0.596714
1598 | vt 0.562899 0.809795
1599 | vt 0.675879 0.203245
1600 | vt 0.637584 0.536363
1601 | vt 0.549742 0.809412
1602 | vt 0.701701 0.353076
1603 | vt 0.643414 0.569564
1604 | vt 0.642574 0.658418
1605 | vt 0.399638 0.680514
1606 | vt 0.543197 0.691919
1607 | vt 0.423906 0.831678
1608 | vt 0.692495 0.780990
1609 | vt 0.495735 0.751391
1610 | vt 0.413267 0.263819
1611 | vt 0.424805 0.981664
1612 | vt 0.691448 0.930973
1613 | vt 0.430386 0.240501
1614 | vt 0.407573 0.981664
1615 | vt 0.713916 0.357184
1616 | vt 0.408035 0.831497
1617 | vt 0.712771 0.507315
1618 | vt 0.511513 0.732025
1619 | vt 0.463203 0.330670
1620 | vt 0.593944 0.808293
1621 | vt 0.391811 0.508749
1622 | vt 0.423701 0.680548
1623 | vt 0.728386 0.506381
1624 | vt 0.519132 0.691787
1625 | vt 0.352739 0.283182
1626 | vt 0.442439 0.680515
1627 | vt 0.425639 0.830914
1628 | vt 0.657520 0.357366
1629 | vt 0.657584 0.898693
1630 | vt 0.365672 0.326262
1631 | vt 0.425242 0.680914
1632 | vt 0.655836 0.507315
1633 | vt 0.402206 0.330659
1634 | vt 0.692371 0.507315
1635 | vt 0.516806 0.963929
1636 | vt 0.541854 0.813941
1637 | vt 0.718782 0.200429
1638 | vt 0.691011 0.842715
1639 | vt 0.361915 0.812902
1640 | vt 0.675894 0.052242
1641 | vt 0.668253 0.781675
1642 | vt 0.348796 0.812511
1643 | vt 0.701701 0.201150
1644 | vt 0.673926 0.815058
1645 | vt 0.699949 0.052230
1646 | vt 0.471974 0.830914
1647 | vt 0.644198 0.780990
1648 | vt 0.441096 0.830538
1649 | vt 0.644560 0.859657
1650 | vt 0.368353 0.050711
1651 | vt 0.357982 0.660867
1652 | vt 0.625773 0.355710
1653 | vt 0.673846 0.660075
1654 | vt 0.353347 0.088789
1655 | vt 0.342788 0.661570
1656 | vt 0.621459 0.505291
1657 | vt 0.655399 0.357422
1658 | vt 0.366717 0.812637
1659 | vt 0.644198 0.658418
1660 | vt 0.352336 0.175365
1661 | vt 0.655399 0.507315
1662 | vt 0.365414 0.962493
1663 | vt 0.390470 0.812511
1664 | vt 0.473640 0.982050
1665 | vt 0.644378 0.718941
1666 | vt 0.711833 0.357459
1667 | vt 0.568132 0.809440
1668 | vt 0.667281 0.779627
1669 | vt 0.698807 0.357045
1670 | vt 0.456591 0.982909
1671 | vt 0.661529 0.746332
1672 | vt 0.362976 0.810925
1673 | vt 0.691365 0.710886
1674 | vt 0.613518 0.354189
1675 | vt 0.351168 0.811398
1676 | vt 0.686247 0.680888
1677 | vt 0.396420 0.831497
1678 | vt 0.445385 0.886767
1679 | vt 0.638693 0.859396
1680 | vt 0.403748 0.439242
1681 | vt 0.403695 0.455227
1682 | vt 0.643761 0.847156
1683 | vt 0.632183 0.831381
1684 | vt 0.396263 0.854586
1685 | vt 0.484994 0.802866
1686 | vt 0.673603 0.963397
1687 | vt 0.485092 0.773537
1688 | vt 0.407136 0.881699
1689 | vt 0.659733 0.982395
1690 | vt 0.485092 0.850653
1691 | vt 0.485092 0.840779
1692 | vt 0.673603 0.923369
1693 | vt 0.425242 0.974906
1694 | vt 0.688798 0.516350
1695 | vt 0.622760 0.024049
1696 | vt 0.442684 0.972902
1697 | vt 0.683732 0.514748
1698 | vt 0.622760 0.070116
1699 | vt 0.488359 0.039083
1700 | vt 0.674166 0.072234
1701 | vt 0.543634 0.360136
1702 | vt 0.604162 0.022682
1703 | vt 0.544441 0.654835
1704 | vt 0.474553 0.357338
1705 | vt 0.371511 0.357059
1706 | vt 0.612872 0.397129
1707 | vt 0.603461 0.353076
1708 | vt 0.404875 0.361337
1709 | vt 0.474435 0.687655
1710 | vt 0.342521 0.290107
1711 | vt 0.604958 0.119526
1712 | vt 0.716591 0.781096
1713 | vt 0.343171 0.358878
1714 | vt 0.495806 0.812795
1715 | vt 0.413318 0.330747
1716 | vt 0.717711 0.930973
1717 | vt 0.341926 0.508749
1718 | vt 0.595122 0.658445
1719 | vt 0.390562 0.358904
1720 | vt 0.543197 0.812828
1721 | vt 0.463204 0.203732
1722 | vt 0.643761 0.808293
1723 | vt 0.398344 0.830384
1724 | vt 0.394447 0.141517
1725 | vt 0.474182 0.769484
1726 | vt 0.393046 0.546743
1727 | vt 0.424940 0.150346
1728 | vt 0.392878 0.540443
1729 | vt 0.474225 0.691787
1730 | vt 0.343142 0.509891
1731 | vt 0.592299 0.658435
1732 | vt 0.613518 0.657305
1733 | vt 0.463165 0.048202
1734 | vt 0.341926 0.659755
1735 | vt 0.593508 0.808299
1736 | vt 0.699930 0.203201
1737 | vt 0.544848 0.658418
1738 | vt 0.613533 0.536395
1739 | vt 0.413172 0.115566
1740 | vt 0.516369 0.963927
1741 | vt 0.718925 0.202263
1742 | vt 0.463197 0.175282
1743 | vt 0.701264 0.353076
1744 | vt 0.543634 0.808299
1745 | vt 0.423910 0.125886
1746 | vt 0.543634 0.959644
1747 | vt 0.708185 0.202813
1748 | vt 0.690969 0.357469
1749 | vt 0.518057 0.814074
1750 | vt 0.691011 0.903345
1751 | vt 0.402324 0.263405
1752 | vt 0.543197 0.963929
1753 | vt 0.718782 0.050394
1754 | vt 0.352300 0.203692
1755 | vt 0.701265 0.202088
1756 | vt 0.473640 0.681077
1757 | vt 0.391586 0.253084
1758 | vt 0.342788 0.962764
1759 | vt 0.708097 0.050913
1760 | vt 0.592214 0.809412
1761 | vt 0.390053 0.811398
1762 | vt 0.691365 0.779877
1763 | vt 0.378733 0.175662
1764 | vt 0.391811 0.962493
1765 | vt 0.473640 0.832027
1766 | vt 0.402174 0.048220
1767 | vt 0.593508 0.959278
1768 | vt 0.391811 0.661564
1769 | vt 0.382785 0.148309
1770 | vt 0.692808 0.507315
1771 | vt 0.462969 0.832589
1772 | vt 0.445321 0.861456
1773 | vt 0.637378 0.884732
1774 | vt 0.445443 0.832027
1775 | vt 0.626589 0.907657
1776 | vt 0.474275 0.897932
1777 | vt 0.403548 0.401239
1778 | vt 0.643761 0.886446
1779 | vt 0.403730 0.629867
1780 | vt 0.403748 0.361324
1781 | vt 0.631454 0.919482
1782 | vt 0.555491 0.490113
1783 | vt 0.539535 0.021197
1784 | vt 0.416046 0.526051
1785 | vt 0.538841 0.353076
1786 | s 0
1787 | usemtl Part__Feature001_006
1788 | f 4/7/1 125/340/1 3/5/1
1789 | f 5/9/2 125/340/2 4/7/2
1790 | f 5/8/3 1/1/3 125/336/3
1791 | f 1/2/4 6/10/4 125/340/4
1792 | f 2/3/5 125/340/5 6/10/5
1793 | f 7/11/6 8/13/6 9/16/6
1794 | f 7/11/7 55/156/7 8/13/7
1795 | f 10/19/8 75/208/8 19/49/8
1796 | f 10/19/9 11/24/9 75/208/9
1797 | f 12/28/10 13/31/10 14/34/10
1798 | f 15/37/11 16/40/11 13/31/11
1799 | f 18/45/12 21/53/12 17/42/12
1800 | f 17/42/13 21/53/13 46/135/13
1801 | f 46/135/14 21/53/14 19/47/14
1802 | f 18/45/15 20/50/15 21/53/15
1803 | f 19/47/16 7/12/16 16/40/16
1804 | f 46/135/17 19/47/17 16/40/17
1805 | f 16/40/18 22/57/18 13/31/18
1806 | f 7/12/19 22/57/19 16/40/19
1807 | f 7/12/20 23/62/20 22/57/20
1808 | f 22/57/21 24/63/21 13/31/21
1809 | f 13/31/22 24/63/22 14/34/22
1810 | f 22/57/23 25/66/23 24/63/23
1811 | f 73/204/24 27/73/24 28/76/24
1812 | f 73/204/25 74/206/25 27/73/25
1813 | f 27/73/26 74/206/26 29/77/26
1814 | f 74/206/27 15/39/27 29/77/27
1815 | f 26/69/28 30/80/28 32/87/28
1816 | f 32/87/29 30/80/29 31/83/29
1817 | f 27/73/30 29/77/30 32/87/30
1818 | f 29/77/31 26/69/31 32/87/31
1819 | f 33/88/32 34/91/32 35/94/32
1820 | f 31/84/33 36/97/33 34/91/33
1821 | f 30/81/34 36/97/34 31/84/34
1822 | f 12/29/35 14/35/35 36/97/35
1823 | f 14/35/36 35/94/36 34/91/36
1824 | f 14/35/37 34/91/37 36/97/37
1825 | f 37/100/38 38/103/38 39/106/38
1826 | f 38/103/39 40/109/39 41/112/39
1827 | f 42/115/40 40/109/40 38/103/40
1828 | f 24/64/41 25/67/41 42/115/41
1829 | f 37/100/42 24/64/42 38/103/42
1830 | f 38/103/43 24/64/43 42/115/43
1831 | f 43/119/44 41/113/44 40/111/44
1832 | f 43/119/45 44/123/45 41/113/45
1833 | f 14/36/46 37/101/46 35/95/46
1834 | f 14/36/47 24/65/47 37/101/47
1835 | f 52/151/48 17/44/48 45/130/48
1836 | f 17/44/49 46/133/49 45/130/49
1837 | f 20/51/50 18/46/50 54/154/50
1838 | f 54/154/51 18/46/51 47/137/51
1839 | f 48/141/52 55/158/52 49/142/52
1840 | f 37/102/53 49/142/53 50/145/53
1841 | f 37/102/54 50/145/54 35/96/54
1842 | f 50/145/55 33/89/55 35/96/55
1843 | f 39/107/56 49/142/56 37/102/56
1844 | f 51/148/57 28/74/57 50/145/57
1845 | f 56/160/58 45/132/58 53/153/58
1846 | f 56/160/59 52/150/59 45/132/59
1847 | f 56/160/60 47/136/60 52/150/60
1848 | f 54/155/61 47/136/61 56/160/61
1849 | f 53/153/62 45/132/62 51/148/62
1850 | f 55/158/63 53/153/63 51/148/63
1851 | f 49/142/64 51/148/64 50/145/64
1852 | f 49/142/65 55/158/65 51/148/65
1853 | f 39/108/66 57/161/66 49/143/66
1854 | f 58/163/67 57/161/67 39/108/67
1855 | f 38/104/68 58/163/68 39/108/68
1856 | f 59/166/69 60/168/69 58/165/69
1857 | f 58/164/70 61/174/70 57/162/70
1858 | f 60/169/71 61/174/71 58/164/71
1859 | f 41/114/72 59/166/72 38/105/72
1860 | f 38/105/73 59/166/73 58/165/73
1861 | f 61/174/74 49/144/74 57/162/74
1862 | f 61/174/75 48/139/75 49/144/75
1863 | f 62/175/76 34/92/76 33/90/76
1864 | f 63/178/77 33/90/77 50/146/77
1865 | f 63/178/78 62/175/78 33/90/78
1866 | f 63/179/79 27/72/79 62/176/79
1867 | f 27/71/80 64/180/80 62/177/80
1868 | f 28/75/81 63/179/81 50/147/81
1869 | f 28/75/82 27/72/82 63/179/82
1870 | f 64/180/83 31/85/83 62/177/83
1871 | f 62/177/84 31/85/84 34/93/84
1872 | f 25/68/85 22/58/85 66/185/85
1873 | f 25/68/86 65/182/86 42/116/86
1874 | f 25/68/87 66/185/87 65/182/87
1875 | f 66/186/88 67/187/88 65/183/88
1876 | f 67/187/89 68/189/89 65/183/89
1877 | f 68/190/90 69/194/90 65/184/90
1878 | f 23/60/91 67/187/91 66/186/91
1879 | f 23/60/92 66/186/92 22/59/92
1880 | f 69/194/93 40/110/93 42/117/93
1881 | f 69/194/94 42/117/94 65/184/94
1882 | f 12/30/95 36/98/95 70/196/95
1883 | f 72/201/96 70/196/96 71/198/96
1884 | f 72/201/97 12/30/97 70/196/97
1885 | f 13/32/98 12/30/98 72/201/98
1886 | f 70/197/99 26/70/99 71/199/99
1887 | f 26/70/100 29/78/100 71/199/100
1888 | f 71/200/101 29/79/101 72/202/101
1889 | f 30/82/102 26/70/102 70/197/102
1890 | f 30/82/103 70/197/103 36/99/103
1891 | f 72/202/104 15/38/104 13/33/104
1892 | f 29/79/105 15/38/105 72/202/105
1893 | f 45/131/106 46/134/106 73/204/106
1894 | f 46/134/107 74/206/107 73/204/107
1895 | f 7/11/108 19/48/108 55/156/108
1896 | f 55/157/109 19/49/109 75/208/109
1897 | f 76/209/110 77/214/110 20/52/110
1898 | f 54/154/111 76/210/111 20/51/111
1899 | f 47/137/112 18/46/112 17/43/112
1900 | f 52/151/113 47/138/113 17/44/113
1901 | f 67/187/114 23/60/114 78/217/114
1902 | f 67/188/115 78/218/115 68/191/115
1903 | f 78/219/116 43/118/116 68/192/116
1904 | f 68/193/117 43/119/117 69/195/117
1905 | f 40/111/118 69/195/118 43/119/118
1906 | f 9/18/119 23/62/119 7/12/119
1907 | f 77/216/120 10/20/120 21/54/120
1908 | f 10/19/121 19/49/121 21/55/121
1909 | f 20/52/122 77/214/122 21/56/122
1910 | f 41/114/123 44/124/123 59/166/123
1911 | f 59/167/124 44/125/124 60/170/124
1912 | f 44/126/125 79/221/125 60/171/125
1913 | f 60/172/126 79/222/126 61/173/126
1914 | f 79/223/127 48/139/127 61/174/127
1915 | f 46/135/128 16/40/128 74/205/128
1916 | f 55/158/129 48/141/129 8/15/129
1917 | f 15/39/130 74/206/130 16/41/130
1918 | f 75/207/131 53/153/131 55/158/131
1919 | f 11/24/132 53/152/132 75/208/132
1920 | f 56/159/133 11/25/133 76/211/133
1921 | f 56/160/134 53/153/134 11/27/134
1922 | f 76/213/135 54/155/135 56/160/135
1923 | f 73/203/136 51/148/136 45/132/136
1924 | f 28/76/137 51/149/137 73/204/137
1925 | f 32/86/138 31/85/138 64/180/138
1926 | f 27/73/139 32/87/139 64/181/139
1927 | f 78/220/140 80/225/140 43/120/140
1928 | f 78/220/141 23/61/141 80/225/141
1929 | f 83/232/142 84/235/142 81/228/142
1930 | f 84/235/143 82/230/143 81/228/143
1931 | f 83/234/144 86/240/144 84/237/144
1932 | f 85/239/145 86/240/145 83/234/145
1933 | f 87/242/146 92/253/146 88/246/146
1934 | f 90/249/147 92/253/147 87/242/147
1935 | f 91/252/148 92/253/148 90/249/148
1936 | f 86/241/149 85/238/149 91/252/149
1937 | f 91/252/150 85/238/150 92/253/150
1938 | f 91/252/151 90/249/151 89/248/151
1939 | f 87/243/152 122/331/152 90/250/152
1940 | f 95/261/153 122/331/153 87/243/153
1941 | f 94/259/154 6/10/154 93/257/154
1942 | f 93/257/155 6/10/155 95/260/155
1943 | f 6/10/156 1/2/156 95/260/156
1944 | f 94/259/157 2/3/157 6/10/157
1945 | f 95/260/158 1/2/158 98/266/158
1946 | f 94/259/159 96/262/159 2/3/159
1947 | f 96/262/160 97/265/160 2/3/160
1948 | f 1/2/161 5/9/161 98/266/161
1949 | f 5/9/162 4/7/162 98/266/162
1950 | f 96/262/163 123/332/163 97/265/163
1951 | f 98/266/164 4/7/164 99/270/164
1952 | f 4/7/165 100/271/165 99/270/165
1953 | f 96/262/166 126/342/166 123/332/166
1954 | f 3/5/167 100/271/167 4/7/167
1955 | f 124/335/168 101/273/168 3/5/168
1956 | f 127/343/169 101/273/169 124/335/169
1957 | f 3/5/170 101/273/170 100/271/170
1958 | f 126/342/171 101/273/171 127/343/171
1959 | f 96/262/172 101/273/172 126/342/172
1960 | f 96/263/173 103/281/173 101/274/173
1961 | f 102/277/174 103/281/174 96/263/174
1962 | f 104/283/175 105/288/175 102/279/175
1963 | f 106/289/176 105/288/176 104/283/176
1964 | f 77/215/177 76/212/177 104/283/177
1965 | f 76/212/178 106/289/178 104/283/178
1966 | f 11/27/179 106/290/179 76/213/179
1967 | f 104/284/180 10/20/180 77/216/180
1968 | f 81/228/181 82/230/181 107/293/181
1969 | f 82/230/182 108/296/182 107/293/182
1970 | f 48/140/183 79/224/183 109/297/183
1971 | f 109/297/184 79/224/184 44/127/184
1972 | f 11/27/185 108/295/185 82/231/185
1973 | f 11/27/186 82/231/186 118/322/186
1974 | f 8/15/187 109/299/187 108/295/187
1975 | f 8/15/188 108/295/188 11/27/188
1976 | f 107/291/189 10/21/189 81/229/189
1977 | f 81/229/190 10/21/190 110/300/190
1978 | f 80/227/191 9/18/191 107/291/191
1979 | f 107/291/192 9/18/192 10/21/192
1980 | f 110/300/193 111/302/193 81/229/193
1981 | f 110/300/194 102/278/194 111/302/194
1982 | f 113/308/195 102/276/195 112/304/195
1983 | f 113/309/196 111/302/196 102/278/196
1984 | f 112/305/197 94/258/197 120/326/197
1985 | f 112/305/198 120/326/198 113/311/198
1986 | f 114/314/199 115/316/199 117/319/199
1987 | f 100/272/200 115/316/200 114/314/200
1988 | f 105/287/201 115/316/201 103/280/201
1989 | f 116/317/202 117/319/202 105/287/202
1990 | f 105/287/203 117/319/203 115/316/203
1991 | f 116/317/204 118/322/204 82/231/204
1992 | f 105/287/205 118/322/205 116/317/205
1993 | f 8/14/206 10/22/206 9/17/206
1994 | f 11/26/207 10/22/207 8/14/207
1995 | f 109/298/208 44/129/208 108/296/208
1996 | f 43/121/209 107/292/209 44/128/209
1997 | f 44/129/210 107/293/210 108/296/210
1998 | f 43/122/211 80/226/211 107/294/211
1999 | f 95/261/212 87/243/212 88/244/212
2000 | f 93/255/213 95/261/213 88/244/213
2001 | f 119/323/214 93/256/214 88/245/214
2002 | f 119/323/215 88/245/215 120/326/215
2003 | f 94/258/216 119/323/216 120/326/216
2004 | f 100/272/217 114/314/217 121/328/217
2005 | f 99/268/218 100/272/218 121/328/218
2006 | f 99/269/219 121/327/219 89/247/219
2007 | f 122/331/220 99/269/220 89/247/220
2008 | f 122/331/221 89/247/221 90/250/221
2009 | f 101/274/222 103/281/222 115/315/222
2010 | f 105/287/223 106/290/223 118/322/223
2011 | f 100/272/224 101/275/224 115/316/224
2012 | f 99/270/225 122/330/225 98/266/225
2013 | f 122/331/226 95/261/226 98/267/226
2014 | f 119/324/227 94/259/227 93/257/227
2015 | f 106/290/228 11/27/228 118/322/228
2016 | f 96/262/229 94/259/229 112/306/229
2017 | f 8/15/230 48/141/230 109/299/230
2018 | f 102/277/231 96/263/231 112/307/231
2019 | f 104/285/232 102/278/232 110/300/232
2020 | f 82/231/233 84/236/233 116/317/233
2021 | f 110/301/234 10/23/234 104/286/234
2022 | f 116/318/235 86/240/235 117/320/235
2023 | f 84/237/236 86/240/236 116/318/236
2024 | f 9/18/237 80/227/237 23/62/237
2025 | f 86/241/238 91/252/238 114/313/238
2026 | f 86/241/239 114/313/239 117/321/239
2027 | f 121/328/240 114/314/240 91/251/240
2028 | f 121/329/241 91/252/241 89/248/241
2029 | f 120/325/242 88/246/242 92/253/242
2030 | f 92/253/243 85/238/243 113/310/243
2031 | f 92/254/244 113/311/244 120/326/244
2032 | f 83/233/245 81/229/245 111/302/245
2033 | f 85/239/246 111/303/246 113/312/246
2034 | f 85/239/247 83/234/247 111/303/247
2035 | f 3/6/248 125/337/248 124/334/248
2036 | f 127/343/249 124/335/249 125/340/249
2037 | f 97/264/250 125/338/250 2/4/250
2038 | f 97/265/251 123/332/251 125/340/251
2039 | f 123/333/252 126/341/252 125/339/252
2040 | f 126/342/253 127/343/253 125/340/253
2041 | f 103/282/254 102/279/254 105/288/254
2042 | f 128/344/255 129/346/255 139/376/255
2043 | f 139/376/256 129/346/256 130/349/256
2044 | f 156/436/257 147/406/257 131/352/257
2045 | f 147/406/258 132/354/258 131/352/258
2046 | f 129/348/259 133/358/259 130/350/259
2047 | f 131/352/260 132/354/260 134/360/260
2048 | f 130/350/261 135/366/261 136/367/261
2049 | f 133/358/262 135/366/262 130/350/262
2050 | f 132/354/263 137/369/263 134/360/263
2051 | f 137/370/264 138/375/264 134/361/264
2052 | f 134/361/265 138/375/265 139/376/265
2053 | f 138/375/266 128/344/266 139/376/266
2054 | f 132/355/267 140/378/267 137/371/267
2055 | f 140/379/268 143/390/268 137/372/268
2056 | f 141/382/269 142/386/269 144/394/269
2057 | f 137/373/270 143/391/270 138/374/270
2058 | f 144/395/271 145/398/271 146/402/271
2059 | f 142/387/272 145/399/272 144/396/272
2060 | f 143/392/273 128/344/273 138/375/273
2061 | f 146/404/274 145/400/274 147/406/274
2062 | f 145/400/275 148/407/275 147/406/275
2063 | f 147/405/276 148/408/276 132/356/276
2064 | f 148/409/277 140/380/277 132/357/277
2065 | f 150/415/278 145/401/278 151/419/278
2066 | f 151/419/279 145/401/279 149/411/279
2067 | f 148/410/280 145/401/280 150/415/280
2068 | f 149/411/281 145/401/281 142/388/281
2069 | f 143/393/282 140/381/282 128/345/282
2070 | f 140/381/283 148/410/283 128/345/283
2071 | f 128/345/284 148/410/284 129/347/284
2072 | f 129/347/285 148/410/285 150/415/285
2073 | f 152/423/286 149/413/286 153/427/286
2074 | f 151/420/287 149/412/287 152/424/287
2075 | f 153/427/288 149/413/288 141/383/288
2076 | f 149/414/289 142/389/289 141/384/289
2077 | f 129/348/290 150/416/290 133/358/290
2078 | f 133/359/291 150/417/291 135/363/291
2079 | f 150/418/292 151/421/292 135/364/292
2080 | f 135/365/293 151/422/293 152/425/293
2081 | f 141/385/294 144/397/294 154/431/294
2082 | f 144/397/295 146/403/295 154/431/295
2083 | f 136/367/296 152/426/296 155/433/296
2084 | f 135/366/297 152/426/297 136/367/297
2085 | f 154/430/298 146/404/298 156/436/298
2086 | f 146/404/299 147/406/299 156/436/299
2087 | f 152/426/300 153/428/300 155/433/300
2088 | f 155/434/301 153/429/301 157/438/301
2089 | f 153/429/302 141/385/302 157/438/302
2090 | f 157/438/303 141/385/303 154/431/303
2091 | f 154/432/304 156/437/304 131/353/304
2092 | f 154/432/304 131/353/304 134/362/304
2093 | f 154/432/304 134/362/304 139/377/304
2094 | f 155/435/304 154/432/304 139/377/304
2095 | f 155/435/304 139/377/304 130/351/304
2096 | f 155/435/304 157/439/304 154/432/304
2097 | f 155/435/304 130/351/304 136/368/304
2098 | f 168/470/305 158/441/305 159/444/305
2099 | f 184/524/257 175/493/257 160/447/257
2100 | f 175/493/258 161/449/258 160/447/258
2101 | f 158/440/306 162/453/306 159/445/306
2102 | f 160/447/260 161/449/260 163/455/260
2103 | f 159/445/261 164/461/261 165/462/261
2104 | f 162/453/262 164/461/262 159/445/262
2105 | f 161/449/263 166/464/263 163/455/263
2106 | f 166/465/307 167/467/307 163/456/307
2107 | f 163/456/308 167/467/308 168/470/308
2108 | f 167/467/309 158/441/309 168/470/309
2109 | f 161/450/310 169/472/310 166/466/310
2110 | f 171/479/311 172/483/311 170/475/311
2111 | f 170/476/312 172/484/312 173/487/312
2112 | f 166/466/313 169/472/313 167/468/313
2113 | f 172/485/314 174/490/314 173/488/314
2114 | f 174/491/315 176/494/315 175/493/315
2115 | f 175/492/316 176/495/316 161/451/316
2116 | f 176/496/317 169/473/317 161/452/317
2117 | f 178/502/318 172/486/318 171/480/318
2118 | f 176/497/319 172/486/319 178/502/319
2119 | f 176/497/320 174/489/320 172/486/320
2120 | f 158/442/321 169/474/321 179/506/321
2121 | f 179/506/322 169/474/322 177/498/322
2122 | f 177/498/323 176/497/323 178/502/323
2123 | f 169/474/149 176/497/149 177/498/149
2124 | f 167/469/324 169/474/324 158/442/324
2125 | f 177/499/325 178/503/325 180/509/325
2126 | f 180/510/326 178/504/326 181/513/326
2127 | f 178/505/327 171/481/327 181/514/327
2128 | f 181/515/328 171/482/328 170/477/328
2129 | f 158/443/329 179/507/329 162/454/329
2130 | f 162/454/330 179/507/330 164/458/330
2131 | f 179/508/331 177/500/331 164/459/331
2132 | f 164/460/332 177/501/332 180/511/332
2133 | f 170/478/294 173/488/294 182/519/294
2134 | f 173/488/333 174/490/333 182/519/333
2135 | f 165/462/296 180/512/296 183/521/296
2136 | f 164/461/297 180/512/297 165/462/297
2137 | f 182/518/334 174/491/334 184/524/334
2138 | f 174/491/335 175/493/335 184/524/335
2139 | f 180/512/300 181/516/300 183/521/300
2140 | f 183/522/301 181/517/301 185/526/301
2141 | f 181/517/302 170/478/302 185/526/302
2142 | f 185/526/303 170/478/303 182/519/303
2143 | f 159/446/304 163/457/304 168/471/304
2144 | f 183/523/304 184/525/304 160/448/304
2145 | f 183/523/304 182/520/304 184/525/304
2146 | f 183/523/304 185/527/304 182/520/304
2147 | f 183/523/304 160/448/304 165/463/304
2148 | f 165/463/304 160/448/304 163/457/304
2149 | f 165/463/304 163/457/304 159/446/304
2150 | usemtl Part__Feature_007
2151 | f 212/592/336 213/595/336 214/598/336
2152 | f 213/595/337 215/601/337 214/598/337
2153 | f 215/602/338 202/567/338 214/599/338
2154 | f 214/599/339 202/567/339 286/777/339
2155 | f 200/562/340 213/596/340 212/593/340
2156 | f 199/560/341 313/855/341 198/557/341
2157 | f 313/855/342 314/857/342 198/557/342
2158 | f 284/771/343 282/767/343 197/555/343
2159 | f 198/558/344 314/859/344 196/553/344
2160 | f 197/555/345 282/767/345 195/550/345
2161 | f 282/767/346 280/760/346 195/550/346
2162 | f 195/551/347 280/761/347 199/560/347
2163 | f 280/761/348 313/855/348 199/560/348
2164 | f 204/572/349 209/584/349 315/860/349
2165 | f 204/572/350 315/860/350 281/763/350
2166 | f 207/579/351 187/531/351 316/862/351
2167 | f 207/579/352 206/578/352 187/531/352
2168 | f 205/574/353 204/572/353 281/763/353
2169 | f 205/575/354 281/764/354 216/604/354
2170 | f 208/583/355 205/575/355 216/604/355
2171 | f 208/583/356 216/604/356 190/539/356
2172 | f 209/584/357 207/580/357 316/863/357
2173 | f 209/584/358 316/863/358 315/860/358
2174 | f 226/623/359 217/606/359 227/624/359
2175 | f 226/623/360 247/667/360 217/606/360
2176 | f 248/670/361 247/667/361 226/623/361
2177 | f 218/609/362 248/670/362 226/623/362
2178 | f 291/790/363 219/611/363 232/633/363
2179 | f 291/790/364 232/633/364 231/631/364
2180 | f 233/634/365 220/612/365 234/635/365
2181 | f 233/634/366 234/635/366 288/782/366
2182 | f 233/634/367 288/782/367 221/614/367
2183 | f 233/634/368 221/614/368 222/617/368
2184 | f 223/618/369 224/620/369 225/622/369
2185 | f 223/618/370 225/622/370 289/785/370
2186 | f 318/867/371 248/671/371 218/608/371
2187 | f 318/867/372 238/646/372 248/671/372
2188 | f 211/589/373 238/646/373 318/867/373
2189 | f 219/610/374 211/589/374 318/867/374
2190 | f 291/791/375 211/589/375 219/610/375
2191 | f 317/865/376 222/616/376 221/615/376
2192 | f 290/789/377 317/865/377 221/615/377
2193 | f 210/586/378 225/621/378 317/865/378
2194 | f 210/586/379 289/786/379 225/621/379
2195 | f 210/586/380 317/865/380 290/789/380
2196 | f 226/623/381 227/624/381 228/626/381
2197 | f 229/628/382 226/623/382 228/626/382
2198 | f 230/629/383 231/631/383 232/633/383
2199 | f 230/629/384 232/633/384 229/628/384
2200 | f 233/634/385 229/628/385 228/626/385
2201 | f 233/634/386 228/626/386 220/612/386
2202 | f 230/629/387 229/628/387 224/620/387
2203 | f 223/618/388 230/629/388 224/620/388
2204 | f 210/587/389 223/619/389 289/787/389
2205 | f 230/630/390 223/619/390 210/587/390
2206 | f 211/590/391 231/632/391 230/630/391
2207 | f 211/590/392 291/792/392 231/632/392
2208 | f 211/590/393 230/630/393 210/587/393
2209 | f 228/627/394 244/661/394 292/794/394
2210 | f 228/627/395 292/794/395 234/636/395
2211 | f 228/627/396 234/636/396 220/613/396
2212 | f 217/607/397 228/627/397 227/625/397
2213 | f 217/607/398 244/661/398 228/627/398
2214 | f 204/573/399 257/696/399 256/693/399
2215 | f 204/573/400 205/576/400 257/696/400
2216 | f 238/645/401 249/672/401 311/849/401
2217 | f 312/852/402 297/807/402 206/577/402
2218 | f 292/793/403 263/713/403 236/640/403
2219 | f 300/816/404 211/591/404 303/825/404
2220 | f 292/793/405 261/708/405 263/713/405
2221 | f 249/672/406 211/591/406 300/816/406
2222 | f 238/645/407 211/591/407 249/672/407
2223 | f 211/591/408 210/588/408 303/825/408
2224 | f 303/825/409 210/588/409 296/804/409
2225 | f 259/702/410 210/588/410 294/798/410
2226 | f 294/798/411 210/588/411 290/788/411
2227 | f 236/640/412 263/713/412 290/788/412
2228 | f 312/852/413 237/643/413 297/807/413
2229 | f 235/637/414 270/733/414 272/737/414
2230 | f 263/713/415 264/716/415 290/788/415
2231 | f 292/793/416 307/837/416 261/708/416
2232 | f 235/637/417 238/645/417 270/733/417
2233 | f 208/582/418 257/696/418 205/576/418
2234 | f 237/643/419 239/647/419 297/807/419
2235 | f 208/582/420 240/650/420 257/696/420
2236 | f 297/807/421 239/647/421 241/653/421
2237 | f 292/793/422 274/743/422 307/837/422
2238 | f 264/716/423 294/798/423 290/788/423
2239 | f 239/647/424 302/822/424 241/653/424
2240 | f 208/582/425 242/655/425 240/650/425
2241 | f 298/810/426 243/658/426 208/582/426
2242 | f 208/582/427 243/658/427 242/655/427
2243 | f 302/822/428 304/828/428 241/653/428
2244 | f 292/793/429 244/660/429 274/743/429
2245 | f 274/743/430 245/662/430 307/837/430
2246 | f 264/716/431 306/834/431 294/798/431
2247 | f 241/653/432 304/828/432 298/810/432
2248 | f 246/665/433 207/581/433 308/840/433
2249 | f 298/810/434 304/828/434 243/658/434
2250 | f 259/702/435 296/804/435 210/588/435
2251 | f 239/647/436 311/849/436 302/822/436
2252 | f 207/581/437 209/585/437 308/840/437
2253 | f 238/645/438 311/849/438 270/733/438
2254 | f 245/662/439 207/581/439 246/665/439
2255 | f 308/840/440 209/585/440 306/834/440
2256 | f 244/660/441 272/737/441 274/743/441
2257 | f 245/662/442 206/577/442 207/581/442
2258 | f 242/655/443 303/825/443 240/650/443
2259 | f 274/743/444 310/846/444 245/662/444
2260 | f 240/650/445 303/825/445 296/804/445
2261 | f 306/834/446 256/693/446 294/798/446
2262 | f 306/834/447 209/585/447 256/693/447
2263 | f 310/846/448 206/577/448 245/662/448
2264 | f 311/849/449 249/672/449 302/822/449
2265 | f 209/585/450 204/573/450 256/693/450
2266 | f 235/637/451 272/737/451 244/660/451
2267 | f 312/852/452 206/577/452 310/846/452
2268 | f 238/646/453 235/638/453 247/668/453
2269 | f 238/646/454 247/668/454 248/671/454
2270 | f 235/639/455 217/607/455 247/669/455
2271 | f 235/639/456 244/661/456 217/607/456
2272 | f 236/641/457 288/783/457 234/636/457
2273 | f 292/794/458 236/641/458 234/636/458
2274 | f 290/789/459 221/615/459 288/784/459
2275 | f 236/642/460 290/789/460 288/784/460
2276 | f 249/673/461 299/813/461 250/675/461
2277 | f 300/817/462 299/813/462 249/673/462
2278 | f 302/823/463 250/676/463 251/678/463
2279 | f 249/674/464 250/676/464 302/823/464
2280 | f 252/681/465 242/656/465 243/659/465
2281 | f 253/684/466 252/681/466 243/659/466
2282 | f 253/684/467 243/659/467 304/829/467
2283 | f 251/679/468 253/685/468 304/830/468
2284 | f 251/679/469 304/830/469 302/824/469
2285 | f 301/819/470 242/657/470 252/682/470
2286 | f 301/819/471 303/826/471 242/657/471
2287 | f 299/814/472 300/818/472 301/820/472
2288 | f 301/820/473 300/818/473 303/827/473
2289 | f 253/686/474 301/821/474 252/683/474
2290 | f 299/815/475 301/821/475 253/686/475
2291 | f 250/677/476 253/686/476 251/680/476
2292 | f 250/677/477 299/815/477 253/686/477
2293 | f 295/801/478 296/805/478 259/703/478
2294 | f 254/687/479 296/805/479 295/801/479
2295 | f 240/651/480 254/688/480 260/705/480
2296 | f 296/806/481 254/688/481 240/651/481
2297 | f 258/699/482 256/694/482 257/697/482
2298 | f 258/699/483 255/690/483 256/694/483
2299 | f 260/706/484 257/698/484 240/652/484
2300 | f 260/706/485 258/700/485 257/698/485
2301 | f 256/695/486 293/795/486 294/799/486
2302 | f 256/695/487 255/691/487 293/795/487
2303 | f 295/802/488 294/800/488 293/796/488
2304 | f 295/802/489 259/704/489 294/800/489
2305 | f 258/701/490 254/689/490 295/803/490
2306 | f 258/701/491 295/803/491 293/797/491
2307 | f 260/707/492 254/689/492 258/701/492
2308 | f 255/692/493 258/701/493 293/797/493
2309 | f 262/710/494 263/714/494 269/731/494
2310 | f 263/714/495 261/709/495 269/731/495
2311 | f 305/831/496 263/715/496 262/711/496
2312 | f 305/831/497 264/717/497 263/715/497
2313 | f 305/832/498 306/835/498 264/718/498
2314 | f 265/719/499 306/835/499 305/832/499
2315 | f 266/722/500 245/663/500 246/666/500
2316 | f 267/725/501 266/722/501 246/666/501
2317 | f 267/725/502 246/666/502 308/841/502
2318 | f 265/720/503 267/726/503 308/842/503
2319 | f 265/720/504 308/842/504 306/836/504
2320 | f 245/664/505 268/728/505 307/838/505
2321 | f 245/664/506 266/723/506 268/728/506
2322 | f 261/709/507 268/729/507 269/731/507
2323 | f 307/839/508 268/729/508 261/709/508
2324 | f 265/721/509 305/833/509 262/712/509
2325 | f 267/727/510 265/721/510 262/712/510
2326 | f 269/732/511 267/727/511 262/712/511
2327 | f 269/732/512 266/724/512 267/727/512
2328 | f 268/730/476 266/724/476 269/732/476
2329 | f 279/758/513 270/734/513 278/755/513
2330 | f 271/735/514 272/739/514 279/757/514
2331 | f 272/738/515 270/734/515 279/758/515
2332 | f 272/739/516 273/740/516 274/744/516
2333 | f 272/739/517 271/735/517 273/740/517
2334 | f 273/741/518 310/847/518 274/745/518
2335 | f 275/746/519 310/847/519 273/741/519
2336 | f 276/749/520 239/648/520 237/644/520
2337 | f 277/752/521 276/749/521 237/644/521
2338 | f 277/752/522 237/644/522 312/853/522
2339 | f 275/747/523 277/753/523 312/854/523
2340 | f 275/747/524 312/854/524 310/848/524
2341 | f 309/843/525 239/649/525 276/750/525
2342 | f 309/843/526 311/850/526 239/649/526
2343 | f 270/734/527 309/844/527 278/755/527
2344 | f 311/851/528 309/844/528 270/734/528
2345 | f 271/736/529 277/754/529 275/748/529
2346 | f 271/736/530 275/748/530 273/742/530
2347 | f 278/756/531 276/751/531 277/754/531
2348 | f 278/756/532 309/845/532 276/751/532
2349 | f 279/759/533 278/756/533 277/754/533
2350 | f 279/759/534 277/754/534 271/736/534
2351 | f 282/766/535 281/765/535 280/762/535
2352 | f 280/762/536 281/765/536 315/861/536
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2371 | f 206/578/555 297/809/555 188/534/555
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2412 | f 219/611/595 318/868/595 232/633/595
2413 | 


--------------------------------------------------------------------------------
/mesh/link0.mtl:
--------------------------------------------------------------------------------
  1 | # Blender 3.1.0 MTL File: 'None'
  2 | # www.blender.org
  3 | 
  4 | newmtl Part__Feature017_001.001
  5 | Ns 250.000000
  6 | Ka 1.000000 1.000000 1.000000
  7 | Kd 0.800000 0.800000 0.800000
  8 | Ks 0.500000 0.500000 0.500000
  9 | Ke 0.000000 0.000000 0.000000
 10 | Ni 1.450000
 11 | d 1.000000
 12 | illum 2
 13 | 
 14 | newmtl Part__Feature018_001.001
 15 | Ns 250.000000
 16 | Ka 1.000000 1.000000 1.000000
 17 | Kd 0.800000 0.800000 0.800000
 18 | Ks 0.500000 0.500000 0.500000
 19 | Ke 0.000000 0.000000 0.000000
 20 | Ni 1.450000
 21 | d 1.000000
 22 | illum 2
 23 | 
 24 | newmtl Part__Feature019_001.001
 25 | Ns 250.000000
 26 | Ka 1.000000 1.000000 1.000000
 27 | Kd 0.800000 0.800000 0.800000
 28 | Ks 0.500000 0.500000 0.500000
 29 | Ke 0.000000 0.000000 0.000000
 30 | Ni 1.450000
 31 | d 1.000000
 32 | illum 2
 33 | 
 34 | newmtl Part__Feature023_001.001
 35 | Ns 250.000000
 36 | Ka 1.000000 1.000000 1.000000
 37 | Kd 0.800000 0.800000 0.800000
 38 | Ks 0.500000 0.500000 0.500000
 39 | Ke 0.000000 0.000000 0.000000
 40 | Ni 1.450000
 41 | d 1.000000
 42 | illum 2
 43 | 
 44 | newmtl Shell001_001.001
 45 | Ns 250.000000
 46 | Ka 1.000000 1.000000 1.000000
 47 | Kd 0.800000 0.800000 0.800000
 48 | Ks 0.500000 0.500000 0.500000
 49 | Ke 0.000000 0.000000 0.000000
 50 | Ni 1.450000
 51 | d 1.000000
 52 | illum 2
 53 | 
 54 | newmtl Shell009_001.001
 55 | Ns 250.000000
 56 | Ka 1.000000 1.000000 1.000000
 57 | Kd 0.800000 0.800000 0.800000
 58 | Ks 0.500000 0.500000 0.500000
 59 | Ke 0.000000 0.000000 0.000000
 60 | Ni 1.450000
 61 | d 1.000000
 62 | illum 2
 63 | 
 64 | newmtl Shell_001.001
 65 | Ns 250.000000
 66 | Ka 1.000000 1.000000 1.000000
 67 | Kd 0.800000 0.800000 0.800000
 68 | Ks 0.500000 0.500000 0.500000
 69 | Ke 0.000000 0.000000 0.000000
 70 | Ni 1.450000
 71 | d 1.000000
 72 | illum 2
 73 | 
 74 | newmtl metal
 75 | Ns 250.000000
 76 | Ka 1.000000 1.000000 1.000000
 77 | Kd 0.800000 0.800000 0.800000
 78 | Ks 0.500000 0.500000 0.500000
 79 | Ke 0.000000 0.000000 0.000000
 80 | Ni 1.450000
 81 | d 1.000000
 82 | illum 2
 83 | 
 84 | newmtl metal.002
 85 | Ns 250.000000
 86 | Ka 1.000000 1.000000 1.000000
 87 | Kd 0.800000 0.800000 0.800000
 88 | Ks 0.500000 0.500000 0.500000
 89 | Ke 0.000000 0.000000 0.000000
 90 | Ni 1.450000
 91 | d 1.000000
 92 | illum 2
 93 | 
 94 | newmtl metal.003
 95 | Ns 250.000000
 96 | Ka 1.000000 1.000000 1.000000
 97 | Kd 0.800000 0.800000 0.800000
 98 | Ks 0.500000 0.500000 0.500000
 99 | Ke 0.000000 0.000000 0.000000
100 | Ni 1.450000
101 | d 1.000000
102 | illum 2
103 | 
104 | newmtl metal.004
105 | Ns 250.000000
106 | Ka 1.000000 1.000000 1.000000
107 | Kd 0.800000 0.800000 0.800000
108 | Ks 0.500000 0.500000 0.500000
109 | Ke 0.000000 0.000000 0.000000
110 | Ni 1.450000
111 | d 1.000000
112 | illum 2
113 | 


--------------------------------------------------------------------------------
/panda.xml:
--------------------------------------------------------------------------------
 1 | <panda>
 2 |   <asset>
 3 |     <mesh name="link0" file="link0.obj" />
 4 |     <mesh name="link1" file="link1.obj" />
 5 |     <mesh name="link2" file="link2.obj" />
 6 |     <mesh name="link3" file="link3.obj" />
 7 |     <mesh name="link4" file="link4.obj" />
 8 |     <mesh name="link5" file="link5.obj" />
 9 |     <mesh name="link6" file="link6.obj" />
10 |     <mesh name="link7" file="link7.obj" />
11 |     <mesh name="hand" file="hand.obj" />
12 |     <mesh name="finger" file="finger.obj" />
13 |     <texture name="panda" file="panda.png" type="2d" />
14 |     <material name="panda" texture="panda" shininess=".4" specular=".4" />
15 |     <material name="panda_white" rgba="1 1 1 1" shininess="0.4" specular="0.4" />
16 |   </asset>
17 |   <actuator>
18 |     <motor ctrllimited="true" ctrlrange="-87 87" forcelimited="true" forcerange="-87 87" joint="panda_joint1" name="panda_joint1" />
19 |     <motor ctrllimited="true" ctrlrange="-87 87" forcelimited="true" forcerange="-87 87" joint="panda_joint2" name="panda_joint2" />
20 |     <motor ctrllimited="true" ctrlrange="-87 87" forcelimited="true" forcerange="-87 87" joint="panda_joint3" name="panda_joint3" />
21 |     <motor ctrllimited="true" ctrlrange="-87 87" forcelimited="true" forcerange="-87 87" joint="panda_joint4" name="panda_joint4" />
22 |     <motor ctrllimited="true" ctrlrange="-12 12" forcelimited="true" forcerange="-12 12" joint="panda_joint5" name="panda_joint5" />
23 |     <motor ctrllimited="true" ctrlrange="-12 12" forcelimited="true" forcerange="-12 12" joint="panda_joint6" name="panda_joint6" />
24 |     <motor ctrllimited="true" ctrlrange="-12 12" forcelimited="true" forcerange="-12 12" joint="panda_joint7" name="panda_joint7" />
25 |     <position forcelimited="true" forcerange="-120 120" ctrllimited="true" ctrlrange="0 0.04" joint="panda_finger_joint1" kp="100" name="pos_panda_finger_joint1" user="1"/>
26 |     <position forcelimited="true" forcerange="-120 120" ctrllimited="true" ctrlrange="0 0.04" joint="panda_finger_joint2" kp="100" name="pos_panda_finger_joint2" user="1"/>
27 |     <velocity forcelimited="true" forcerange="-120 120" joint="panda_finger_joint1" kv="10" name="vel_panda_finger_joint1" user="1"/>
28 |     <velocity forcelimited="true" forcerange="-120 120" joint="panda_finger_joint2" kv="10" name="vel_panda_finger_joint2" user="1"/>
29 |   </actuator>
30 |   <worldbody>
31 |     <body name="panda_link0">
32 |       <geom type="mesh" material="panda" mesh="link0" />
33 |       <inertial pos="-4.1018e-02 -1.4e-04 4.9974e-02" mass="6.29769e-01" fullinertia="3.15e-03 3.88e-03 4.285e-03 8.2904e-07 1.5e-04 8.2299e-06" />
34 |       <body name="panda_link1" pos="0 0 0.333">
35 |         <inertial pos="3.875e-03 2.081e-03 -4.762e-02" mass="4.970684" fullinertia="7.0337e-01 7.0661e-01 9.1170e-03 -1.3900e-04 6.7720e-03 1.9169e-02" />
36 |         <joint name="panda_joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.0665" frictionloss="0.2450" />
37 |         <geom type="mesh" material="panda_white" mesh="link1" />
38 |         <body name="panda_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
39 |           <inertial pos="-3.141e-03 -2.872e-02 3.495e-03" mass="0.646926" fullinertia="7.9620e-03 2.8110e-02 2.5995e-02 -3.9250e-03 1.0254e-02 7.0400e-04" />
40 |           <joint name="panda_joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1987" frictionloss="0.1523" />
41 |           <geom type="mesh" material="panda_white" mesh="link2" />
42 |           <body name="panda_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
43 |             <inertial pos="2.7518e-02 3.9252e-02 -6.6502e-02" mass="3.228604" fullinertia="3.7242e-02 3.6155e-02 1.0830e-02 -4.7610e-03 -1.1396e-02 -1.2805e-02" />
44 |             <joint name="panda_joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.0399" frictionloss="0.1827" />
45 |             <geom type="mesh" material="panda" mesh="link3" />
46 |             <body name="panda_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
47 |               <inertial pos="-5.317e-02 1.04419e-01 2.7454e-02" mass="3.587895" fullinertia="2.5853e-02 1.9552e-02 2.8323e-02 7.7960e-03 -1.3320e-03 8.6410e-03" />
48 |               <joint name="panda_joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.2257" frictionloss="0.3591" />
49 |               <geom type="mesh" material="panda" mesh="link4" />
50 |               <body name="panda_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
51 |                 <inertial pos="-1.1953e-02 4.1065e-02 -3.8437e-02" mass="1.225946" fullinertia="3.5549e-02 2.9474e-02 8.6270e-03 -2.1170e-03 -4.0370e-03 2.2900e-04" />
52 |                 <joint name="panda_joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1023" frictionloss="0.2669" />
53 |                 <geom type="mesh" material="panda" mesh="link5" />
54 |                 <body name="panda_link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
55 |                   <inertial pos="6.0149e-02 -1.4117e-02 -1.0517e-02" mass="1.666555 " fullinertia="1.9640e-03 4.3540e-03 5.4330e-03 1.0900e-04 -1.1580e-03 3.4100e-04" />
56 |                   <joint name="panda_joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="-0.0132" frictionloss="0.1658" />
57 |                   <geom type="mesh" material="panda" mesh="link6" />
58 |                   <body name="panda_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
59 |                     <inertial pos="1.0517e-02 -4.252e-03 6.1597e-02" mass="7.35522e-01" fullinertia="1.2516e-02 1.0027e-02 4.8150e-03 -4.2800e-04 -1.1960e-03 -7.4100e-04" />
60 |                     <joint name="panda_joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.0638" frictionloss="1.2109" />
61 |                     <geom type="mesh" material="panda" mesh="link7" />
62 |                     <body name="panda_link8" pos="0 0 0.107">
63 |                       <body name="panda_hand" euler="0 0 -0.785398163397">
64 |                         <inertial pos="-1e-02 0 3e-02" mass="7.3e-01" diaginertia="1e-03 2.5e-03 1.7e-03" />
65 |                         <geom type="mesh" material="panda" mesh="hand" />
66 |                         <body name="panda_leftfinger" pos="0 0 0.0584">
67 |                           <inertial pos="0 0 0" mass="1.5e-02" diaginertia="2.3749e-06 2.3749e-06 7.5e-07"/>
68 |                           <joint name="panda_finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0 0.04" />
69 |                           <geom type="mesh" material="panda" mesh="finger" />
70 |                         </body>
71 |                         <body name="panda_rightfinger" pos="0 0 0.0584" euler="0 0 3.1415">
72 |                           <inertial pos="0 0 0" mass="1.5e-02" diaginertia="2.3749e-06 2.3749e-06 7.5e-07"/>
73 |                           <joint name="panda_finger_joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="0 0.04" />
74 |                           <geom type="mesh" material="panda" mesh="finger" condim="1" />
75 |                         </body>
76 |                       </body>
77 |                     </body>
78 |                   </body>
79 |                 </body>
80 |               </body>
81 |             </body>
82 |           </body>
83 |         </body>
84 |       </body>
85 |     </body>
86 |   </worldbody>
87 | </panda>
88 | 


--------------------------------------------------------------------------------
/texture/panda.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/JeanElsner/panda_mujoco/e4e7bf5b085f5322e04abb933d1763ef60ae9c4f/texture/panda.png


--------------------------------------------------------------------------------
/world.xml:
--------------------------------------------------------------------------------
 1 | <mujoco>
 2 |   <compiler angle="radian" meshdir="./mesh" texturedir="./texture" />
 3 |   <visual>
 4 |     <quality shadowsize="8192" offsamples="8" numslices="64" numstacks="64" />
 5 |     <headlight active="1" />
 6 |     <rgba haze="0.15 0.25 0.35 1" />
 7 |   </visual>
 8 |   <option timestep="0.001" integrator="Euler" iterations="50" solver="Newton" impratio="5" noslip_iterations="5" tolerance="1e-8" cone="elliptic">
 9 |     <flag actuation="enable" gravity="enable" warmstart="enable" />
10 |   </option>
11 |   <asset>
12 |     <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512" />
13 |     <texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
14 |     <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true" />
15 |   </asset>
16 |   <include file="panda.xml" />
17 |   <worldbody>
18 |     <body>
19 |       <geom type="box" size=".03 .03 .03" pos=".3 0 .03" condim="6" />
20 |       <joint type="free" />
21 |     </body>
22 |     <camera name="cam" mode="targetbody" pos="1 1 1" target="panda_hand" />
23 |     <light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 1 5" dir="0 -1 -1" castshadow="false"/>
24 |     <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -1 4" dir="0 0 -1" />
25 |     <light directional="true" diffuse="0 0 0" specular=".7 .7 .7" pos="0 3 3" dir="0 -3 -3" />
26 |     <geom name="floor" pos="0 0 0" group="1" size="0 0 .1" type="plane" material="plane" condim="3" />
27 |   </worldbody>
28 |   <equality />
29 | </mujoco>
30 | 


--------------------------------------------------------------------------------