add Laikago quadruped model, thanks to Unitree for the cad meshes.
If you use the Laikago URDF, please add a citation to PyBullet:
@MISC{coumans2018,
author = {Erwin Coumans and Yunfei Bai},
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
This commit is contained in:
Erwin Coumans
10
examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
Normal file
10
examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
9330
examples/pybullet/gym/pybullet_data/laikago/chassis.obj
Normal file
9330
examples/pybullet/gym/pybullet_data/laikago/chassis.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
examples/pybullet/gym/pybullet_data/laikago/chassis.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/chassis.stl
Normal file
Binary file not shown.
11
examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl
Normal file
11
examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl
Normal file
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None.002
|
||||
Ns 0.000000
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.800000 0.800000 0.800000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
8167
examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj
Normal file
8167
examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj
Normal file
File diff suppressed because it is too large
Load Diff
1227
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
Normal file
1227
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
Normal file
File diff suppressed because it is too large
Load Diff
1644
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
Normal file
1644
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
Normal file
File diff suppressed because it is too large
Load Diff
2499
examples/pybullet/gym/pybullet_data/laikago/data1.txt
Normal file
2499
examples/pybullet/gym/pybullet_data/laikago/data1.txt
Normal file
File diff suppressed because it is too large
Load Diff
BIN
examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl
Normal file
Binary file not shown.
100
examples/pybullet/gym/pybullet_data/laikago/laikago.py
Normal file
100
examples/pybullet/gym/pybullet_data/laikago/laikago.py
Normal file
@@ -0,0 +1,100 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
|
||||
p.connect(p.GUI)
|
||||
plane = p.loadURDF("plane.urdf")
|
||||
p.setGravity(0,0,-9.8)
|
||||
p.setTimeStep(1./500)
|
||||
#p.setDefaultContactERP(0)
|
||||
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
|
||||
urdfFlags = p.URDF_USE_SELF_COLLISION
|
||||
quadruped = p.loadURDF("laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
|
||||
|
||||
#enable collision between lower legs
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
print(p.getJointInfo(quadruped,j))
|
||||
|
||||
#2,5,8 and 11 are the lower legs
|
||||
lower_legs = [2,5,8,11]
|
||||
for l0 in lower_legs:
|
||||
for l1 in lower_legs:
|
||||
if (l1>l0):
|
||||
enableCollision = 1
|
||||
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
|
||||
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
|
||||
|
||||
jointIds=[]
|
||||
paramIds=[]
|
||||
jointOffsets=[]
|
||||
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
|
||||
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
|
||||
|
||||
for i in range (4):
|
||||
jointOffsets.append(0)
|
||||
jointOffsets.append(-0.7)
|
||||
jointOffsets.append(0.7)
|
||||
|
||||
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
|
||||
info = p.getJointInfo(quadruped,j)
|
||||
#print(info)
|
||||
jointName = info[1]
|
||||
jointType = info[2]
|
||||
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
|
||||
jointIds.append(j)
|
||||
|
||||
|
||||
p.getCameraImage(480,320)
|
||||
p.setRealTimeSimulation(0)
|
||||
|
||||
joints=[]
|
||||
|
||||
with open("data1.txt","r") as filestream:
|
||||
for line in filestream:
|
||||
print("line=",line)
|
||||
maxForce = p.readUserDebugParameter(maxForceId)
|
||||
currentline = line.split(",")
|
||||
#print (currentline)
|
||||
#print("-----")
|
||||
frame = currentline[0]
|
||||
t = currentline[1]
|
||||
#print("frame[",frame,"]")
|
||||
joints=currentline[2:14]
|
||||
#print("joints=",joints)
|
||||
for j in range (12):
|
||||
targetPos = float(joints[j])
|
||||
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
|
||||
p.stepSimulation()
|
||||
for lower_leg in lower_legs:
|
||||
#print("points for ", quadruped, " link: ", lower_leg)
|
||||
pts = p.getContactPoints(quadruped,-1, lower_leg)
|
||||
#print("num points=",len(pts))
|
||||
#for pt in pts:
|
||||
# print(pt[9])
|
||||
time.sleep(1./500.)
|
||||
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
|
||||
info = p.getJointInfo(quadruped,j)
|
||||
js = p.getJointState(quadruped,j)
|
||||
#print(info)
|
||||
jointName = info[1]
|
||||
jointType = info[2]
|
||||
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
|
||||
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))
|
||||
|
||||
|
||||
p.setRealTimeSimulation(1)
|
||||
|
||||
while (1):
|
||||
|
||||
for i in range(len(paramIds)):
|
||||
c = paramIds[i]
|
||||
targetPos = p.readUserDebugParameter(c)
|
||||
maxForce = p.readUserDebugParameter(maxForceId)
|
||||
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
|
||||
|
||||
477
examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
Normal file
477
examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
Normal file
@@ -0,0 +1,477 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="chassis">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
|
||||
<mass value="13.715"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="yellow">
|
||||
<color rgba="0.95 0.75 0.05 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<link name="FR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_hip_motor"/>
|
||||
<child link="FR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_upper_leg"/>
|
||||
<child link="FR_lower_leg"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green">
|
||||
<color rgba="0.23 0.73 0.33 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FL_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
|
||||
<mesh filename="upper_leg.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0.28 0.52 0.93 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_hip_motor"/>
|
||||
<child link="FL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="0.85 0.19 0.21 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_upper_leg"/>
|
||||
<child link="FL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="RR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RR_hip_motor"/>
|
||||
<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_hip_motor"/>
|
||||
<child link="RR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_upper_leg"/>
|
||||
<child link="RR_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RL_hip_motor"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
13
examples/pybullet/gym/pybullet_data/laikago/license.txt
Normal file
13
examples/pybullet/gym/pybullet_data/laikago/license.txt
Normal file
@@ -0,0 +1,13 @@
|
||||
URDF model created by Erwin Coumans.
|
||||
Meshes derived from Laikago cad model, used by permission of Unitree.
|
||||
|
||||
If you use the model, add a citation to PyBullet:
|
||||
|
||||
@MISC{coumans2018,
|
||||
author = {Erwin Coumans and Yunfei Bai},
|
||||
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
|
||||
howpublished = {\url{http://pybullet.org}},
|
||||
year = {2016--2018}
|
||||
}
|
||||
|
||||
|
||||
BIN
examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl
Normal file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl
Normal file
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3394
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
Normal file
3394
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,906 @@
|
||||
o convex_0
|
||||
v -0.035828 -0.166793 -0.155663
|
||||
v -0.035828 -0.215924 -0.149049
|
||||
v -0.031106 -0.215924 -0.149049
|
||||
v -0.029216 -0.164905 -0.110317
|
||||
v -0.029216 -0.178130 -0.164165
|
||||
v -0.037718 -0.164905 -0.115042
|
||||
v -0.028270 -0.211194 -0.135827
|
||||
v -0.038663 -0.198907 -0.158500
|
||||
v -0.038663 -0.209301 -0.136771
|
||||
v -0.029216 -0.164905 -0.154719
|
||||
v -0.028270 -0.207413 -0.156607
|
||||
v -0.037718 -0.177186 -0.161333
|
||||
v -0.035828 -0.210245 -0.133939
|
||||
v -0.034884 -0.190412 -0.165114
|
||||
v -0.037718 -0.164905 -0.150937
|
||||
v -0.034884 -0.166793 -0.111266
|
||||
v -0.034884 -0.210245 -0.156607
|
||||
v -0.028270 -0.192295 -0.149049
|
||||
v -0.038663 -0.212138 -0.150937
|
||||
v -0.030161 -0.190412 -0.165114
|
||||
v -0.035828 -0.215924 -0.141492
|
||||
v -0.034884 -0.177186 -0.164165
|
||||
v -0.038663 -0.196076 -0.131107
|
||||
v -0.030161 -0.210245 -0.133939
|
||||
v -0.028270 -0.212138 -0.153775
|
||||
v -0.029216 -0.165849 -0.110317
|
||||
v -0.029216 -0.214970 -0.141492
|
||||
v -0.028270 -0.196076 -0.135827
|
||||
v -0.037718 -0.167737 -0.115042
|
||||
v -0.030161 -0.208357 -0.157551
|
||||
v -0.037718 -0.192295 -0.162277
|
||||
v -0.031106 -0.214970 -0.138659
|
||||
f 27 7 32
|
||||
f 6 4 10
|
||||
f 10 1 15
|
||||
f 6 10 15
|
||||
f 1 12 15
|
||||
f 12 8 15
|
||||
f 4 6 16
|
||||
f 9 13 16
|
||||
f 3 2 17
|
||||
f 5 10 18
|
||||
f 10 4 18
|
||||
f 7 11 18
|
||||
f 11 5 18
|
||||
f 9 8 19
|
||||
f 17 2 19
|
||||
f 8 17 19
|
||||
f 5 11 20
|
||||
f 2 3 21
|
||||
f 13 9 21
|
||||
f 9 19 21
|
||||
f 19 2 21
|
||||
f 1 10 22
|
||||
f 10 5 22
|
||||
f 12 1 22
|
||||
f 14 12 22
|
||||
f 5 20 22
|
||||
f 20 14 22
|
||||
f 8 9 23
|
||||
f 6 15 23
|
||||
f 15 8 23
|
||||
f 11 7 25
|
||||
f 3 17 25
|
||||
f 7 4 26
|
||||
f 4 16 26
|
||||
f 16 13 26
|
||||
f 24 7 26
|
||||
f 13 24 26
|
||||
f 21 3 27
|
||||
f 3 25 27
|
||||
f 25 7 27
|
||||
f 4 7 28
|
||||
f 18 4 28
|
||||
f 7 18 28
|
||||
f 16 6 29
|
||||
f 9 16 29
|
||||
f 6 23 29
|
||||
f 23 9 29
|
||||
f 17 14 30
|
||||
f 20 11 30
|
||||
f 14 20 30
|
||||
f 11 25 30
|
||||
f 25 17 30
|
||||
f 8 12 31
|
||||
f 12 14 31
|
||||
f 17 8 31
|
||||
f 14 17 31
|
||||
f 13 21 32
|
||||
f 7 24 32
|
||||
f 24 13 32
|
||||
f 21 27 32
|
||||
o convex_1
|
||||
v -0.033937 -0.164895 -0.154725
|
||||
v -0.019767 -0.070398 -0.078182
|
||||
v -0.014095 -0.070398 -0.078190
|
||||
v -0.019767 -0.130865 -0.078182
|
||||
v -0.014095 -0.161112 -0.149997
|
||||
v -0.036775 -0.164895 -0.112205
|
||||
v -0.030159 -0.071351 -0.078182
|
||||
v -0.014095 -0.164895 -0.109373
|
||||
v -0.031102 -0.129921 -0.078182
|
||||
v -0.036775 -0.153555 -0.142437
|
||||
v -0.014095 -0.130865 -0.078190
|
||||
v -0.020713 -0.073238 -0.081966
|
||||
v -0.015041 -0.157329 -0.149046
|
||||
v -0.036775 -0.157329 -0.109381
|
||||
v -0.033937 -0.154489 -0.147165
|
||||
v -0.029213 -0.073238 -0.081966
|
||||
v -0.034883 -0.163933 -0.109381
|
||||
v -0.036775 -0.163933 -0.151885
|
||||
v -0.014095 -0.072303 -0.081029
|
||||
v -0.031102 -0.101589 -0.078182
|
||||
v -0.029213 -0.164895 -0.153766
|
||||
v -0.025435 -0.130865 -0.078182
|
||||
v -0.031102 -0.163933 -0.154725
|
||||
v -0.014095 -0.164895 -0.115037
|
||||
v -0.036775 -0.155432 -0.115045
|
||||
v -0.020713 -0.164895 -0.109381
|
||||
v -0.014095 -0.162055 -0.144325
|
||||
v -0.014095 -0.159216 -0.149997
|
||||
v -0.030159 -0.072303 -0.080078
|
||||
v -0.035829 -0.155432 -0.146213
|
||||
f 61 48 62
|
||||
f 35 34 36
|
||||
f 36 34 39
|
||||
f 37 35 40
|
||||
f 38 33 40
|
||||
f 36 39 41
|
||||
f 35 36 43
|
||||
f 40 35 43
|
||||
f 36 40 43
|
||||
f 38 41 46
|
||||
f 42 38 46
|
||||
f 44 47 48
|
||||
f 41 38 49
|
||||
f 33 38 50
|
||||
f 38 42 50
|
||||
f 47 33 50
|
||||
f 34 35 51
|
||||
f 35 37 51
|
||||
f 45 44 51
|
||||
f 48 34 51
|
||||
f 44 48 51
|
||||
f 41 39 52
|
||||
f 46 41 52
|
||||
f 39 46 52
|
||||
f 40 33 53
|
||||
f 40 36 54
|
||||
f 36 41 54
|
||||
f 41 49 54
|
||||
f 44 45 55
|
||||
f 33 47 55
|
||||
f 47 44 55
|
||||
f 53 33 55
|
||||
f 37 53 55
|
||||
f 37 40 56
|
||||
f 40 53 56
|
||||
f 39 42 57
|
||||
f 46 39 57
|
||||
f 42 46 57
|
||||
f 38 40 58
|
||||
f 49 38 58
|
||||
f 40 54 58
|
||||
f 54 49 58
|
||||
f 53 37 59
|
||||
f 37 56 59
|
||||
f 56 53 59
|
||||
f 51 37 60
|
||||
f 45 51 60
|
||||
f 37 55 60
|
||||
f 55 45 60
|
||||
f 39 34 61
|
||||
f 42 39 61
|
||||
f 34 48 61
|
||||
f 48 47 62
|
||||
f 50 42 62
|
||||
f 47 50 62
|
||||
f 42 61 62
|
||||
o convex_2
|
||||
v -0.014095 -0.091201 -0.096142
|
||||
v -0.003701 -0.070398 -0.078182
|
||||
v -0.014095 -0.070398 -0.078182
|
||||
v -0.004646 -0.130866 -0.078182
|
||||
v -0.005590 -0.152610 -0.143378
|
||||
v -0.014095 -0.152610 -0.099923
|
||||
v -0.014095 -0.151653 -0.144324
|
||||
v -0.014095 -0.130866 -0.078182
|
||||
v -0.004646 -0.150719 -0.099923
|
||||
v -0.002756 -0.087418 -0.090477
|
||||
v -0.004646 -0.152610 -0.141488
|
||||
v -0.005590 -0.150719 -0.143378
|
||||
v -0.002756 -0.087418 -0.078182
|
||||
v -0.003701 -0.070398 -0.079134
|
||||
v -0.005590 -0.152610 -0.099923
|
||||
v -0.003701 -0.118578 -0.078182
|
||||
v -0.014095 -0.152610 -0.144324
|
||||
v -0.002756 -0.071348 -0.079134
|
||||
v -0.013148 -0.072289 -0.081024
|
||||
v -0.007482 -0.151653 -0.144324
|
||||
v -0.004646 -0.148820 -0.140543
|
||||
f 74 80 83
|
||||
f 64 65 66
|
||||
f 65 63 68
|
||||
f 68 63 69
|
||||
f 66 65 70
|
||||
f 65 68 70
|
||||
f 68 66 70
|
||||
f 68 67 73
|
||||
f 73 67 74
|
||||
f 64 66 75
|
||||
f 71 73 75
|
||||
f 73 72 75
|
||||
f 65 64 76
|
||||
f 66 68 77
|
||||
f 71 66 77
|
||||
f 73 71 77
|
||||
f 68 73 77
|
||||
f 66 71 78
|
||||
f 75 66 78
|
||||
f 71 75 78
|
||||
f 67 68 79
|
||||
f 68 69 79
|
||||
f 64 75 80
|
||||
f 75 72 80
|
||||
f 76 64 80
|
||||
f 74 76 80
|
||||
f 63 65 81
|
||||
f 65 76 81
|
||||
f 81 76 82
|
||||
f 69 63 82
|
||||
f 74 67 82
|
||||
f 76 74 82
|
||||
f 67 79 82
|
||||
f 79 69 82
|
||||
f 63 81 82
|
||||
f 72 73 83
|
||||
f 73 74 83
|
||||
f 80 72 83
|
||||
o convex_3
|
||||
v -0.001811 -0.035451 -0.050781
|
||||
v -0.031105 -0.128969 -0.078179
|
||||
v -0.027323 -0.129922 -0.078179
|
||||
v -0.030156 -0.104403 -0.050781
|
||||
v -0.028266 -0.034498 -0.051727
|
||||
v -0.003703 -0.069460 -0.078179
|
||||
v -0.003703 -0.104403 -0.050781
|
||||
v -0.030156 -0.070404 -0.078179
|
||||
v -0.004647 -0.129922 -0.078179
|
||||
v -0.001811 -0.073243 -0.077233
|
||||
v -0.001811 -0.094017 -0.050781
|
||||
v -0.031105 -0.101573 -0.050781
|
||||
v -0.029212 -0.039225 -0.050781
|
||||
v -0.005593 -0.112913 -0.058341
|
||||
v -0.002757 -0.034498 -0.051727
|
||||
v -0.029212 -0.068517 -0.078179
|
||||
v -0.027323 -0.129922 -0.077233
|
||||
v -0.031105 -0.101573 -0.078179
|
||||
v -0.003703 -0.118582 -0.078179
|
||||
v -0.022597 -0.105356 -0.050781
|
||||
v -0.004647 -0.129922 -0.077233
|
||||
v -0.001811 -0.065677 -0.075345
|
||||
v -0.020707 -0.068517 -0.078179
|
||||
v -0.027323 -0.035451 -0.052671
|
||||
v -0.030156 -0.114799 -0.061176
|
||||
v -0.008429 -0.125195 -0.071566
|
||||
v -0.003703 -0.118582 -0.065896
|
||||
f 104 102 110
|
||||
f 86 85 89
|
||||
f 84 87 90
|
||||
f 89 85 91
|
||||
f 86 89 92
|
||||
f 84 90 94
|
||||
f 93 84 94
|
||||
f 87 84 95
|
||||
f 84 88 96
|
||||
f 88 91 96
|
||||
f 95 84 96
|
||||
f 88 84 98
|
||||
f 91 88 99
|
||||
f 89 91 99
|
||||
f 85 86 100
|
||||
f 86 92 100
|
||||
f 91 85 101
|
||||
f 85 95 101
|
||||
f 96 91 101
|
||||
f 95 96 101
|
||||
f 92 89 102
|
||||
f 89 93 102
|
||||
f 93 94 102
|
||||
f 90 87 103
|
||||
f 97 90 103
|
||||
f 100 92 104
|
||||
f 92 102 104
|
||||
f 84 93 105
|
||||
f 93 89 105
|
||||
f 98 84 105
|
||||
f 89 99 106
|
||||
f 105 89 106
|
||||
f 98 105 106
|
||||
f 88 98 107
|
||||
f 99 88 107
|
||||
f 106 99 107
|
||||
f 98 106 107
|
||||
f 95 85 108
|
||||
f 87 95 108
|
||||
f 85 100 108
|
||||
f 103 87 108
|
||||
f 100 103 108
|
||||
f 97 103 109
|
||||
f 103 100 109
|
||||
f 104 97 109
|
||||
f 100 104 109
|
||||
f 94 90 110
|
||||
f 90 97 110
|
||||
f 102 94 110
|
||||
f 97 104 110
|
||||
o convex_4
|
||||
v 0.027482 -0.069449 -0.077237
|
||||
v -0.001811 -0.094017 -0.051726
|
||||
v 0.015198 -0.094967 -0.051726
|
||||
v 0.025591 -0.035434 -0.050781
|
||||
v -0.001811 -0.068505 -0.077237
|
||||
v -0.001811 -0.035434 -0.050781
|
||||
v 0.026535 -0.094017 -0.050781
|
||||
v 0.035988 -0.037328 -0.052671
|
||||
v 0.026535 -0.077001 -0.074401
|
||||
v -0.001811 -0.073231 -0.077237
|
||||
v -0.001811 -0.094017 -0.050781
|
||||
v -0.001811 -0.036384 -0.052669
|
||||
v 0.027482 -0.073231 -0.077237
|
||||
v 0.035988 -0.039216 -0.050781
|
||||
v 0.018029 -0.068505 -0.077237
|
||||
v 0.026535 -0.090241 -0.058338
|
||||
v 0.025591 -0.035434 -0.051726
|
||||
v -0.000863 -0.092123 -0.054559
|
||||
v 0.002918 -0.065667 -0.075346
|
||||
v 0.035041 -0.044886 -0.052671
|
||||
v 0.026535 -0.067555 -0.076292
|
||||
f 125 127 131
|
||||
f 115 112 116
|
||||
f 114 116 117
|
||||
f 115 111 120
|
||||
f 112 115 120
|
||||
f 112 113 121
|
||||
f 116 112 121
|
||||
f 117 116 121
|
||||
f 113 117 121
|
||||
f 115 116 122
|
||||
f 111 118 123
|
||||
f 120 111 123
|
||||
f 119 120 123
|
||||
f 114 117 124
|
||||
f 118 114 124
|
||||
f 111 115 125
|
||||
f 117 113 126
|
||||
f 119 123 126
|
||||
f 116 114 127
|
||||
f 114 118 127
|
||||
f 122 116 127
|
||||
f 113 112 128
|
||||
f 112 120 128
|
||||
f 120 119 128
|
||||
f 126 113 128
|
||||
f 119 126 128
|
||||
f 115 122 129
|
||||
f 125 115 129
|
||||
f 122 127 129
|
||||
f 127 125 129
|
||||
f 123 118 130
|
||||
f 124 117 130
|
||||
f 118 124 130
|
||||
f 117 126 130
|
||||
f 126 123 130
|
||||
f 118 111 131
|
||||
f 111 125 131
|
||||
f 127 118 131
|
||||
o convex_5
|
||||
v 0.036933 -0.037309 -0.046994
|
||||
v 0.003852 0.002351 0.044664
|
||||
v 0.001025 0.002351 0.044664
|
||||
v -0.004643 -0.104417 -0.049825
|
||||
v -0.030154 0.032602 -0.027151
|
||||
v 0.036933 0.042985 0.000241
|
||||
v 0.036933 -0.028828 0.036153
|
||||
v -0.032043 -0.024108 0.034257
|
||||
v -0.030154 -0.103458 -0.050778
|
||||
v -0.030154 0.032602 0.026699
|
||||
v 0.035982 0.011791 -0.043211
|
||||
v 0.026536 -0.097780 -0.042267
|
||||
v -0.028264 -0.032589 -0.050778
|
||||
v 0.036933 0.022204 0.038040
|
||||
v -0.031098 0.014637 -0.039436
|
||||
v 0.035982 -0.034477 -0.050778
|
||||
v 0.036933 0.033546 -0.028095
|
||||
v -0.030154 0.041097 -0.009186
|
||||
v -0.031098 0.014637 0.038984
|
||||
v 0.036933 -0.061881 -0.003515
|
||||
v 0.008582 -0.033533 0.031426
|
||||
v 0.005748 0.041097 0.016310
|
||||
v -0.032994 -0.031645 -0.022424
|
||||
v 0.026536 -0.094004 -0.050778
|
||||
v 0.036933 -0.010864 0.043711
|
||||
v 0.001970 0.017484 -0.041323
|
||||
v 0.036933 0.036363 0.023868
|
||||
v -0.031098 -0.012766 0.039928
|
||||
v 0.005748 0.042041 -0.013922
|
||||
v -0.029209 -0.101571 -0.046985
|
||||
v -0.030154 0.041097 0.008752
|
||||
v 0.001970 0.023133 0.038040
|
||||
v 0.000080 -0.019388 0.040880
|
||||
v -0.032994 -0.032589 0.021971
|
||||
v 0.036933 -0.038253 0.026708
|
||||
v 0.001970 0.043944 0.003081
|
||||
v -0.032043 -0.000480 -0.039436
|
||||
v 0.036933 0.008030 0.043711
|
||||
v 0.001970 0.025965 -0.036596
|
||||
v -0.032043 -0.030701 0.028586
|
||||
v -0.031098 0.030699 0.025755
|
||||
v 0.001970 0.034475 0.027652
|
||||
v 0.001025 0.008015 -0.044154
|
||||
v 0.001970 0.035433 -0.027151
|
||||
v 0.036933 0.041097 -0.013913
|
||||
v 0.036933 0.020301 -0.039427
|
||||
v 0.001970 0.015581 0.041824
|
||||
v -0.031098 0.008959 0.040880
|
||||
v 0.036933 0.042041 0.009695
|
||||
v 0.001025 -0.009934 0.043711
|
||||
v -0.031098 0.030699 -0.026198
|
||||
v 0.001025 -0.027884 0.036153
|
||||
v 0.000080 -0.036365 0.027652
|
||||
v -0.030154 0.039209 -0.015809
|
||||
v -0.024486 -0.104417 -0.049825
|
||||
v -0.030154 0.023148 0.035210
|
||||
v -0.030154 0.021245 -0.036596
|
||||
v 0.026536 0.027867 0.034266
|
||||
v -0.031098 0.008959 -0.041314
|
||||
v -0.032043 -0.000480 0.038984
|
||||
v -0.030154 0.036377 0.021037
|
||||
v -0.032994 -0.039197 -0.006355
|
||||
v 0.036933 -0.015598 0.042768
|
||||
v 0.025591 -0.098739 -0.047938
|
||||
f 155 143 195
|
||||
f 132 137 138
|
||||
f 138 137 145
|
||||
f 140 144 147
|
||||
f 137 132 148
|
||||
f 132 138 151
|
||||
f 135 140 155
|
||||
f 140 147 155
|
||||
f 147 132 155
|
||||
f 132 151 155
|
||||
f 151 143 155
|
||||
f 133 134 156
|
||||
f 138 145 156
|
||||
f 145 137 158
|
||||
f 159 139 164
|
||||
f 135 143 166
|
||||
f 151 138 166
|
||||
f 143 151 166
|
||||
f 138 152 166
|
||||
f 137 160 167
|
||||
f 160 149 167
|
||||
f 149 162 167
|
||||
f 162 153 167
|
||||
f 140 154 168
|
||||
f 134 133 169
|
||||
f 133 156 169
|
||||
f 156 145 169
|
||||
f 140 161 171
|
||||
f 139 165 171
|
||||
f 165 140 171
|
||||
f 162 149 172
|
||||
f 158 153 173
|
||||
f 141 163 173
|
||||
f 142 147 174
|
||||
f 147 144 174
|
||||
f 157 142 174
|
||||
f 170 136 175
|
||||
f 148 170 175
|
||||
f 137 148 176
|
||||
f 160 137 176
|
||||
f 175 160 176
|
||||
f 148 175 176
|
||||
f 132 147 177
|
||||
f 147 142 177
|
||||
f 148 132 177
|
||||
f 142 157 177
|
||||
f 170 148 177
|
||||
f 157 170 177
|
||||
f 145 163 178
|
||||
f 134 169 178
|
||||
f 169 145 178
|
||||
f 159 134 179
|
||||
f 134 178 179
|
||||
f 178 150 179
|
||||
f 158 137 180
|
||||
f 153 158 180
|
||||
f 137 167 180
|
||||
f 167 153 180
|
||||
f 156 134 181
|
||||
f 134 159 181
|
||||
f 159 164 181
|
||||
f 146 168 182
|
||||
f 168 154 182
|
||||
f 172 149 182
|
||||
f 154 172 182
|
||||
f 152 138 183
|
||||
f 138 164 183
|
||||
f 164 139 183
|
||||
f 139 171 183
|
||||
f 183 171 184
|
||||
f 161 152 184
|
||||
f 171 161 184
|
||||
f 152 183 184
|
||||
f 149 160 185
|
||||
f 175 136 185
|
||||
f 160 175 185
|
||||
f 136 182 185
|
||||
f 182 149 185
|
||||
f 140 135 186
|
||||
f 161 140 186
|
||||
f 152 161 186
|
||||
f 135 166 186
|
||||
f 166 152 186
|
||||
f 163 141 187
|
||||
f 141 172 187
|
||||
f 172 150 187
|
||||
f 150 178 187
|
||||
f 178 163 187
|
||||
f 157 146 188
|
||||
f 136 170 188
|
||||
f 170 157 188
|
||||
f 182 136 188
|
||||
f 146 182 188
|
||||
f 145 158 189
|
||||
f 163 145 189
|
||||
f 158 173 189
|
||||
f 173 163 189
|
||||
f 144 140 190
|
||||
f 146 157 190
|
||||
f 140 168 190
|
||||
f 168 146 190
|
||||
f 174 144 190
|
||||
f 157 174 190
|
||||
f 139 159 191
|
||||
f 165 139 191
|
||||
f 154 165 191
|
||||
f 150 172 191
|
||||
f 172 154 191
|
||||
f 159 179 191
|
||||
f 179 150 191
|
||||
f 153 162 192
|
||||
f 172 141 192
|
||||
f 162 172 192
|
||||
f 141 173 192
|
||||
f 173 153 192
|
||||
f 154 140 193
|
||||
f 140 165 193
|
||||
f 165 154 193
|
||||
f 138 156 194
|
||||
f 164 138 194
|
||||
f 156 181 194
|
||||
f 181 164 194
|
||||
f 143 135 195
|
||||
f 135 155 195
|
||||
o convex_6
|
||||
v 0.039769 0.043940 -0.015800
|
||||
v 0.047327 0.006135 0.047499
|
||||
v 0.038824 0.006135 0.047499
|
||||
v 0.044492 -0.060945 -0.012029
|
||||
v 0.051107 0.024091 -0.036589
|
||||
v 0.036933 -0.036372 -0.045102
|
||||
v 0.036933 -0.036372 0.033319
|
||||
v 0.049218 -0.039213 0.026701
|
||||
v 0.051107 0.037324 0.022920
|
||||
v 0.049218 -0.033543 -0.045102
|
||||
v 0.036933 0.039206 0.018197
|
||||
v 0.036933 0.016527 -0.041322
|
||||
v 0.036933 -0.061891 0.001189
|
||||
v 0.047327 0.005199 -0.047940
|
||||
v 0.048272 0.045833 -0.006363
|
||||
v 0.050161 -0.008024 0.044652
|
||||
v 0.048272 -0.059998 -0.001639
|
||||
v 0.038824 0.027878 0.038043
|
||||
v 0.037879 -0.021257 -0.050778
|
||||
v 0.046380 -0.023139 0.043718
|
||||
v 0.048272 0.029760 -0.036598
|
||||
v 0.037879 -0.009917 0.047499
|
||||
v 0.051107 0.025037 0.036157
|
||||
v 0.039769 0.043940 0.015369
|
||||
v 0.036933 0.033547 -0.028094
|
||||
v 0.051107 0.039206 -0.019590
|
||||
v 0.038824 0.016538 -0.045102
|
||||
v 0.036933 0.014634 0.041823
|
||||
v 0.045437 -0.039213 0.031434
|
||||
v 0.045437 -0.033543 -0.048883
|
||||
v 0.036933 -0.059998 -0.012972
|
||||
v 0.050161 -0.008024 -0.046045
|
||||
v 0.048272 0.038270 0.026701
|
||||
v 0.045437 -0.059998 0.004969
|
||||
v 0.039769 0.036377 -0.029980
|
||||
v 0.047327 0.022208 0.041823
|
||||
v 0.046380 -0.027873 -0.050778
|
||||
v 0.048272 0.044887 0.011588
|
||||
v 0.049218 -0.040149 -0.035655
|
||||
v 0.048272 0.038270 -0.027151
|
||||
v 0.036933 0.042047 -0.009191
|
||||
v 0.039769 0.045833 0.006865
|
||||
v 0.051107 0.042993 0.005903
|
||||
v 0.037879 -0.027873 0.040881
|
||||
v 0.046380 -0.009917 0.047499
|
||||
v 0.045437 -0.040149 -0.041322
|
||||
v 0.039769 0.039217 0.025758
|
||||
v 0.048272 0.014645 -0.045102
|
||||
v 0.038824 0.027878 -0.038493
|
||||
v 0.036933 -0.053382 0.013464
|
||||
v 0.045437 -0.062838 -0.005410
|
||||
v 0.048272 -0.058105 -0.011086
|
||||
v 0.038824 0.016538 0.044661
|
||||
v 0.049218 -0.028809 0.037100
|
||||
v 0.038824 0.006135 -0.047940
|
||||
v 0.037879 -0.030703 -0.049826
|
||||
v 0.050161 0.010858 0.043709
|
||||
v 0.048272 0.028814 0.037100
|
||||
v 0.047327 0.022208 -0.042264
|
||||
v 0.036933 -0.015587 0.042766
|
||||
v 0.039769 0.045833 -0.007306
|
||||
v 0.048272 0.042993 -0.017695
|
||||
v 0.038824 -0.037319 -0.045102
|
||||
v 0.051107 0.023144 0.036157
|
||||
f 234 227 259
|
||||
f 201 202 206
|
||||
f 201 206 207
|
||||
f 202 201 208
|
||||
f 201 207 214
|
||||
f 197 198 217
|
||||
f 200 204 218
|
||||
f 207 206 220
|
||||
f 204 200 221
|
||||
f 206 202 223
|
||||
f 213 206 223
|
||||
f 217 198 223
|
||||
f 208 201 226
|
||||
f 212 203 229
|
||||
f 203 224 229
|
||||
f 220 196 230
|
||||
f 214 209 232
|
||||
f 205 225 232
|
||||
f 227 205 232
|
||||
f 209 227 232
|
||||
f 228 204 233
|
||||
f 219 228 233
|
||||
f 211 203 234
|
||||
f 203 212 234
|
||||
f 205 227 234
|
||||
f 200 216 235
|
||||
f 221 200 235
|
||||
f 230 196 235
|
||||
f 216 230 235
|
||||
f 196 220 236
|
||||
f 220 206 236
|
||||
f 206 219 237
|
||||
f 233 210 237
|
||||
f 219 233 237
|
||||
f 236 206 237
|
||||
f 204 221 238
|
||||
f 221 210 238
|
||||
f 233 204 238
|
||||
f 210 233 238
|
||||
f 215 217 239
|
||||
f 202 224 239
|
||||
f 224 215 239
|
||||
f 211 197 240
|
||||
f 215 211 240
|
||||
f 197 217 240
|
||||
f 217 215 240
|
||||
f 225 205 241
|
||||
f 205 234 241
|
||||
f 206 213 242
|
||||
f 219 206 242
|
||||
f 228 219 242
|
||||
f 209 222 243
|
||||
f 200 227 243
|
||||
f 227 209 243
|
||||
f 207 220 244
|
||||
f 222 207 244
|
||||
f 220 230 244
|
||||
f 230 216 244
|
||||
f 202 208 245
|
||||
f 224 202 245
|
||||
f 208 229 245
|
||||
f 229 224 245
|
||||
f 226 199 246
|
||||
f 208 226 246
|
||||
f 212 229 246
|
||||
f 229 208 246
|
||||
f 234 212 247
|
||||
f 199 241 247
|
||||
f 241 234 247
|
||||
f 246 199 247
|
||||
f 212 246 247
|
||||
f 198 197 248
|
||||
f 223 198 248
|
||||
f 213 223 248
|
||||
f 197 231 248
|
||||
f 231 213 248
|
||||
f 203 211 249
|
||||
f 211 215 249
|
||||
f 224 203 249
|
||||
f 215 224 249
|
||||
f 214 207 250
|
||||
f 209 214 250
|
||||
f 207 222 250
|
||||
f 222 209 250
|
||||
f 201 214 251
|
||||
f 214 232 251
|
||||
f 232 225 251
|
||||
f 197 211 252
|
||||
f 211 218 252
|
||||
f 231 197 252
|
||||
f 218 231 252
|
||||
f 218 204 253
|
||||
f 204 228 253
|
||||
f 213 231 253
|
||||
f 231 218 253
|
||||
f 242 213 253
|
||||
f 228 242 253
|
||||
f 216 200 254
|
||||
f 200 243 254
|
||||
f 243 222 254
|
||||
f 222 244 254
|
||||
f 244 216 254
|
||||
f 223 202 255
|
||||
f 217 223 255
|
||||
f 202 239 255
|
||||
f 239 217 255
|
||||
f 210 196 256
|
||||
f 196 236 256
|
||||
f 237 210 256
|
||||
f 236 237 256
|
||||
f 196 210 257
|
||||
f 210 221 257
|
||||
f 235 196 257
|
||||
f 221 235 257
|
||||
f 199 226 258
|
||||
f 226 201 258
|
||||
f 225 241 258
|
||||
f 241 199 258
|
||||
f 201 251 258
|
||||
f 251 225 258
|
||||
f 200 218 259
|
||||
f 218 211 259
|
||||
f 227 200 259
|
||||
f 211 234 259
|
||||
o convex_7
|
||||
v 0.001024 -0.168682 -0.154719
|
||||
v -0.008424 -0.216868 -0.149049
|
||||
v -0.002757 -0.216868 -0.149049
|
||||
v -0.005590 -0.165850 -0.110317
|
||||
v -0.007480 -0.181912 -0.165114
|
||||
v 0.001024 -0.166794 -0.113154
|
||||
v -0.010315 -0.212139 -0.135827
|
||||
v 0.000079 -0.212139 -0.137715
|
||||
v 0.001024 -0.193240 -0.161333
|
||||
v -0.006534 -0.165850 -0.154719
|
||||
v -0.010315 -0.199852 -0.155663
|
||||
v -0.006534 -0.165850 -0.111266
|
||||
v -0.010315 -0.210246 -0.155663
|
||||
v -0.002757 -0.211190 -0.133939
|
||||
v -0.001812 -0.190413 -0.165114
|
||||
v -0.000866 -0.211190 -0.154719
|
||||
v 0.001024 -0.165850 -0.151887
|
||||
v -0.001812 -0.178131 -0.164165
|
||||
v -0.010315 -0.199852 -0.133939
|
||||
v 0.001024 -0.194184 -0.129214
|
||||
v -0.002757 -0.216868 -0.141492
|
||||
v -0.007480 -0.194184 -0.164165
|
||||
v -0.002757 -0.211190 -0.156607
|
||||
v -0.001812 -0.165850 -0.110317
|
||||
v 0.000079 -0.214027 -0.149049
|
||||
v 0.001024 -0.180963 -0.162277
|
||||
v -0.010315 -0.215915 -0.142436
|
||||
v -0.007480 -0.211190 -0.133939
|
||||
v -0.005590 -0.166794 -0.110317
|
||||
v -0.000866 -0.166794 -0.155663
|
||||
v -0.006534 -0.173407 -0.161333
|
||||
v -0.000866 -0.167738 -0.111266
|
||||
f 288 273 291
|
||||
f 260 265 268
|
||||
f 269 264 270
|
||||
f 269 270 271
|
||||
f 263 269 271
|
||||
f 270 264 272
|
||||
f 266 270 272
|
||||
f 265 260 276
|
||||
f 269 263 276
|
||||
f 274 264 277
|
||||
f 270 266 278
|
||||
f 271 270 278
|
||||
f 266 271 278
|
||||
f 265 267 279
|
||||
f 268 265 279
|
||||
f 261 262 280
|
||||
f 267 273 280
|
||||
f 272 264 281
|
||||
f 264 274 281
|
||||
f 262 261 282
|
||||
f 261 272 282
|
||||
f 274 268 282
|
||||
f 275 262 282
|
||||
f 268 275 282
|
||||
f 272 281 282
|
||||
f 281 274 282
|
||||
f 265 276 283
|
||||
f 276 263 283
|
||||
f 262 275 284
|
||||
f 275 268 284
|
||||
f 279 267 284
|
||||
f 268 279 284
|
||||
f 280 262 284
|
||||
f 267 280 284
|
||||
f 260 268 285
|
||||
f 268 274 285
|
||||
f 277 260 285
|
||||
f 274 277 285
|
||||
f 272 261 286
|
||||
f 266 272 286
|
||||
f 261 280 286
|
||||
f 280 266 286
|
||||
f 266 280 287
|
||||
f 280 273 287
|
||||
f 263 271 288
|
||||
f 271 266 288
|
||||
f 283 263 288
|
||||
f 266 287 288
|
||||
f 287 273 288
|
||||
f 276 260 289
|
||||
f 269 276 289
|
||||
f 260 277 289
|
||||
f 289 277 290
|
||||
f 264 269 290
|
||||
f 277 264 290
|
||||
f 269 289 290
|
||||
f 267 265 291
|
||||
f 273 267 291
|
||||
f 265 283 291
|
||||
f 283 288 291
|
||||
o convex_8
|
||||
v -0.014095 -0.161114 -0.149991
|
||||
v 0.001969 -0.158282 -0.110319
|
||||
v 0.001969 -0.161114 -0.110319
|
||||
v -0.014095 -0.152610 -0.100867
|
||||
v -0.000866 -0.152610 -0.144323
|
||||
v -0.014095 -0.164894 -0.109376
|
||||
v 0.001024 -0.165839 -0.151883
|
||||
v -0.014095 -0.152610 -0.144323
|
||||
v -0.000866 -0.165839 -0.110319
|
||||
v -0.005593 -0.152610 -0.100867
|
||||
v -0.006533 -0.165839 -0.154720
|
||||
v 0.001969 -0.155447 -0.143380
|
||||
v -0.000866 -0.153557 -0.120710
|
||||
v -0.001811 -0.164894 -0.154720
|
||||
v 0.001024 -0.165839 -0.112207
|
||||
v 0.001969 -0.163003 -0.148103
|
||||
v -0.014095 -0.156391 -0.148103
|
||||
v -0.006533 -0.165839 -0.110319
|
||||
v -0.005593 -0.153557 -0.100867
|
||||
v -0.014095 -0.163948 -0.125434
|
||||
f 302 297 311
|
||||
f 295 292 297
|
||||
f 292 295 299
|
||||
f 295 296 299
|
||||
f 294 293 301
|
||||
f 296 295 301
|
||||
f 298 300 302
|
||||
f 293 294 303
|
||||
f 301 293 304
|
||||
f 296 301 304
|
||||
f 293 303 304
|
||||
f 303 296 304
|
||||
f 298 302 305
|
||||
f 296 303 305
|
||||
f 303 298 305
|
||||
f 294 300 306
|
||||
f 300 298 306
|
||||
f 303 294 307
|
||||
f 298 303 307
|
||||
f 294 306 307
|
||||
f 306 298 307
|
||||
f 292 299 308
|
||||
f 299 296 308
|
||||
f 302 292 308
|
||||
f 296 305 308
|
||||
f 305 302 308
|
||||
f 300 297 309
|
||||
f 297 302 309
|
||||
f 302 300 309
|
||||
f 295 297 310
|
||||
f 300 294 310
|
||||
f 297 300 310
|
||||
f 294 301 310
|
||||
f 301 295 310
|
||||
f 297 292 311
|
||||
f 292 302 311
|
||||
BIN
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl
Normal file
BIN
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl
Normal file
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3394
examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
Normal file
3394
examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,906 @@
|
||||
o convex_0
|
||||
v 0.003614 -0.114804 -0.113135
|
||||
v 0.014008 -0.069453 -0.077238
|
||||
v 0.014008 -0.069453 -0.078183
|
||||
v 0.014006 -0.151649 -0.098974
|
||||
v 0.014006 -0.150708 -0.143385
|
||||
v 0.004558 -0.129923 -0.077244
|
||||
v 0.002668 -0.070411 -0.078183
|
||||
v 0.005503 -0.151649 -0.142433
|
||||
v 0.014006 -0.129923 -0.077244
|
||||
v 0.004558 -0.147876 -0.097083
|
||||
v 0.002668 -0.084581 -0.077244
|
||||
v 0.005503 -0.151649 -0.098974
|
||||
v 0.005503 -0.145985 -0.139597
|
||||
v 0.004558 -0.147876 -0.137707
|
||||
v 0.005503 -0.071352 -0.080074
|
||||
v 0.014008 -0.077017 -0.084801
|
||||
v 0.014006 -0.151649 -0.143385
|
||||
v 0.003614 -0.115745 -0.077244
|
||||
v 0.007393 -0.146926 -0.140543
|
||||
v 0.002668 -0.084581 -0.087637
|
||||
v 0.003614 -0.069461 -0.077244
|
||||
f 15 7 21
|
||||
f 2 6 9
|
||||
f 6 4 9
|
||||
f 4 6 12
|
||||
f 8 4 12
|
||||
f 6 10 12
|
||||
f 10 8 12
|
||||
f 1 7 13
|
||||
f 13 8 14
|
||||
f 8 10 14
|
||||
f 10 11 14
|
||||
f 1 13 14
|
||||
f 13 7 15
|
||||
f 3 2 16
|
||||
f 2 9 16
|
||||
f 9 4 16
|
||||
f 15 3 16
|
||||
f 4 8 17
|
||||
f 8 5 17
|
||||
f 16 4 17
|
||||
f 5 16 17
|
||||
f 6 2 18
|
||||
f 10 6 18
|
||||
f 2 11 18
|
||||
f 11 10 18
|
||||
f 5 8 19
|
||||
f 8 13 19
|
||||
f 13 15 19
|
||||
f 15 16 19
|
||||
f 16 5 19
|
||||
f 7 1 20
|
||||
f 11 7 20
|
||||
f 1 14 20
|
||||
f 14 11 20
|
||||
f 2 3 21
|
||||
f 11 2 21
|
||||
f 7 11 21
|
||||
f 3 15 21
|
||||
o convex_1
|
||||
v 0.036685 -0.165849 -0.153774
|
||||
v 0.031019 -0.215919 -0.149048
|
||||
v 0.035740 -0.215919 -0.149048
|
||||
v 0.029128 -0.164900 -0.110311
|
||||
v 0.029128 -0.174350 -0.162276
|
||||
v 0.037631 -0.165849 -0.114098
|
||||
v 0.028184 -0.209301 -0.134886
|
||||
v 0.038577 -0.194183 -0.160388
|
||||
v 0.038577 -0.208357 -0.135830
|
||||
v 0.028184 -0.207413 -0.156606
|
||||
v 0.029128 -0.164900 -0.154718
|
||||
v 0.035740 -0.188524 -0.165114
|
||||
v 0.035740 -0.210245 -0.133941
|
||||
v 0.037631 -0.164900 -0.150936
|
||||
v 0.037631 -0.210245 -0.154718
|
||||
v 0.030073 -0.190407 -0.165114
|
||||
v 0.034796 -0.165849 -0.110311
|
||||
v 0.028184 -0.192295 -0.149048
|
||||
v 0.037631 -0.177186 -0.161332
|
||||
v 0.035740 -0.210245 -0.156606
|
||||
v 0.029128 -0.214970 -0.141489
|
||||
v 0.038577 -0.213082 -0.140545
|
||||
v 0.034796 -0.177186 -0.164165
|
||||
v 0.038577 -0.193239 -0.130160
|
||||
v 0.031019 -0.210245 -0.133941
|
||||
v 0.034796 -0.214970 -0.138657
|
||||
v 0.037631 -0.164900 -0.114098
|
||||
v 0.038577 -0.212138 -0.150936
|
||||
v 0.034796 -0.168681 -0.158500
|
||||
v 0.031019 -0.210245 -0.156606
|
||||
v 0.029128 -0.165849 -0.110311
|
||||
v 0.030073 -0.180967 -0.165114
|
||||
v 0.028184 -0.196076 -0.135830
|
||||
v 0.035740 -0.199851 -0.161332
|
||||
f 41 51 55
|
||||
f 22 32 35
|
||||
f 32 25 35
|
||||
f 31 26 37
|
||||
f 30 27 38
|
||||
f 34 30 38
|
||||
f 26 31 39
|
||||
f 31 28 39
|
||||
f 32 26 39
|
||||
f 25 32 39
|
||||
f 29 33 40
|
||||
f 22 35 40
|
||||
f 35 29 40
|
||||
f 24 23 41
|
||||
f 36 24 41
|
||||
f 31 23 42
|
||||
f 28 31 42
|
||||
f 29 30 43
|
||||
f 30 34 43
|
||||
f 40 33 44
|
||||
f 27 30 45
|
||||
f 30 29 45
|
||||
f 29 35 45
|
||||
f 34 38 46
|
||||
f 28 42 46
|
||||
f 46 42 47
|
||||
f 23 24 47
|
||||
f 42 23 47
|
||||
f 43 34 47
|
||||
f 24 43 47
|
||||
f 34 46 47
|
||||
f 35 25 48
|
||||
f 25 38 48
|
||||
f 38 27 48
|
||||
f 27 45 48
|
||||
f 45 35 48
|
||||
f 24 36 49
|
||||
f 36 29 49
|
||||
f 29 43 49
|
||||
f 43 24 49
|
||||
f 32 22 50
|
||||
f 26 32 50
|
||||
f 22 40 50
|
||||
f 44 26 50
|
||||
f 40 44 50
|
||||
f 23 31 51
|
||||
f 31 37 51
|
||||
f 41 23 51
|
||||
f 25 28 52
|
||||
f 38 25 52
|
||||
f 28 46 52
|
||||
f 46 38 52
|
||||
f 33 37 53
|
||||
f 37 26 53
|
||||
f 26 44 53
|
||||
f 44 33 53
|
||||
f 28 25 54
|
||||
f 25 39 54
|
||||
f 39 28 54
|
||||
f 33 29 55
|
||||
f 29 36 55
|
||||
f 37 33 55
|
||||
f 36 41 55
|
||||
f 51 37 55
|
||||
o convex_2
|
||||
v 0.014008 -0.162046 -0.144318
|
||||
v 0.029127 -0.068517 -0.077237
|
||||
v 0.027237 -0.068517 -0.077237
|
||||
v 0.014008 -0.129923 -0.077245
|
||||
v 0.037632 -0.164895 -0.113152
|
||||
v 0.037632 -0.163933 -0.150940
|
||||
v 0.014008 -0.072300 -0.081022
|
||||
v 0.031016 -0.128980 -0.077237
|
||||
v 0.014008 -0.164895 -0.109367
|
||||
v 0.014956 -0.157320 -0.149051
|
||||
v 0.033851 -0.163933 -0.154725
|
||||
v 0.030072 -0.070414 -0.077237
|
||||
v 0.014008 -0.069470 -0.077245
|
||||
v 0.029127 -0.164895 -0.153777
|
||||
v 0.034794 -0.163933 -0.109367
|
||||
v 0.029127 -0.068517 -0.078185
|
||||
v 0.031016 -0.098763 -0.077237
|
||||
v 0.014008 -0.159216 -0.149999
|
||||
v 0.037632 -0.162046 -0.113152
|
||||
v 0.027235 -0.129923 -0.077245
|
||||
v 0.037632 -0.162046 -0.149051
|
||||
v 0.037632 -0.164895 -0.150940
|
||||
v 0.034794 -0.157320 -0.149051
|
||||
v 0.020624 -0.068517 -0.078185
|
||||
v 0.031962 -0.131810 -0.081022
|
||||
v 0.014008 -0.164895 -0.115040
|
||||
v 0.020624 -0.164895 -0.109367
|
||||
v 0.014008 -0.161103 -0.149999
|
||||
v 0.031016 -0.163933 -0.154725
|
||||
f 69 83 84
|
||||
f 56 59 62
|
||||
f 57 58 63
|
||||
f 58 59 63
|
||||
f 59 56 64
|
||||
f 57 63 67
|
||||
f 59 58 68
|
||||
f 62 59 68
|
||||
f 60 64 69
|
||||
f 60 63 70
|
||||
f 58 57 71
|
||||
f 57 67 71
|
||||
f 67 63 72
|
||||
f 56 62 73
|
||||
f 62 65 73
|
||||
f 60 61 74
|
||||
f 67 72 74
|
||||
f 63 59 75
|
||||
f 59 64 75
|
||||
f 70 63 75
|
||||
f 61 71 76
|
||||
f 71 67 76
|
||||
f 74 61 76
|
||||
f 67 74 76
|
||||
f 61 60 77
|
||||
f 66 61 77
|
||||
f 60 69 77
|
||||
f 69 66 77
|
||||
f 61 66 78
|
||||
f 66 71 78
|
||||
f 71 61 78
|
||||
f 65 62 79
|
||||
f 68 58 79
|
||||
f 62 68 79
|
||||
f 58 71 79
|
||||
f 71 66 79
|
||||
f 63 60 80
|
||||
f 72 63 80
|
||||
f 60 74 80
|
||||
f 74 72 80
|
||||
f 64 56 81
|
||||
f 69 64 81
|
||||
f 56 69 81
|
||||
f 64 60 82
|
||||
f 60 70 82
|
||||
f 75 64 82
|
||||
f 70 75 82
|
||||
f 69 56 83
|
||||
f 56 73 83
|
||||
f 83 73 84
|
||||
f 66 69 84
|
||||
f 73 65 84
|
||||
f 65 79 84
|
||||
f 79 66 84
|
||||
o convex_3
|
||||
v 0.002668 -0.091180 -0.055507
|
||||
v -0.036076 -0.039221 -0.051726
|
||||
v -0.033239 -0.052449 -0.057395
|
||||
v 0.002668 -0.068502 -0.077232
|
||||
v 0.002668 -0.035440 -0.050778
|
||||
v -0.025681 -0.094961 -0.050778
|
||||
v -0.027569 -0.073227 -0.077232
|
||||
v 0.002668 -0.094012 -0.050778
|
||||
v -0.035128 -0.037334 -0.052671
|
||||
v 0.002668 -0.074171 -0.076289
|
||||
v -0.026625 -0.067558 -0.076289
|
||||
v -0.036076 -0.036390 -0.050778
|
||||
v -0.026625 -0.085510 -0.064006
|
||||
v 0.002668 -0.036384 -0.052671
|
||||
v -0.026625 -0.093068 -0.052671
|
||||
v -0.024733 -0.094012 -0.053616
|
||||
v -0.025681 -0.035440 -0.051726
|
||||
v -0.003006 -0.065670 -0.075344
|
||||
v -0.025681 -0.077003 -0.074399
|
||||
v -0.027569 -0.069445 -0.077232
|
||||
v 0.002668 -0.073227 -0.077232
|
||||
f 94 103 105
|
||||
f 85 88 89
|
||||
f 87 86 91
|
||||
f 85 89 92
|
||||
f 89 90 92
|
||||
f 88 85 94
|
||||
f 86 90 96
|
||||
f 90 89 96
|
||||
f 89 88 98
|
||||
f 86 87 99
|
||||
f 90 86 99
|
||||
f 87 91 99
|
||||
f 91 97 99
|
||||
f 99 97 100
|
||||
f 85 92 100
|
||||
f 92 90 100
|
||||
f 94 85 100
|
||||
f 90 99 100
|
||||
f 95 93 101
|
||||
f 96 89 101
|
||||
f 93 96 101
|
||||
f 89 98 101
|
||||
f 101 98 102
|
||||
f 88 95 102
|
||||
f 98 88 102
|
||||
f 95 101 102
|
||||
f 97 91 103
|
||||
f 100 97 103
|
||||
f 94 100 103
|
||||
f 91 86 104
|
||||
f 88 91 104
|
||||
f 95 88 104
|
||||
f 93 95 104
|
||||
f 86 96 104
|
||||
f 96 93 104
|
||||
f 91 88 105
|
||||
f 88 94 105
|
||||
f 103 91 105
|
||||
o convex_4
|
||||
v 0.031014 -0.103466 -0.050778
|
||||
v 0.002668 -0.094022 -0.051726
|
||||
v 0.002668 -0.094022 -0.050778
|
||||
v 0.028181 -0.034489 -0.050778
|
||||
v 0.031014 -0.128024 -0.077232
|
||||
v 0.002668 -0.068519 -0.077232
|
||||
v 0.004560 -0.128986 -0.077232
|
||||
v 0.030071 -0.069454 -0.077232
|
||||
v 0.002668 -0.034489 -0.050778
|
||||
v 0.004560 -0.105353 -0.050778
|
||||
v 0.029124 -0.128986 -0.076289
|
||||
v 0.028181 -0.035442 -0.052671
|
||||
v 0.029124 -0.036385 -0.050778
|
||||
v 0.029124 -0.067567 -0.077232
|
||||
v 0.002668 -0.034489 -0.051726
|
||||
v 0.031014 -0.098730 -0.077232
|
||||
v 0.022509 -0.105353 -0.050778
|
||||
v 0.005507 -0.125203 -0.071563
|
||||
v 0.003617 -0.115750 -0.077232
|
||||
v 0.013066 -0.067567 -0.077232
|
||||
v 0.002668 -0.084568 -0.077232
|
||||
v 0.003617 -0.115750 -0.063066
|
||||
v 0.031014 -0.098730 -0.050778
|
||||
v 0.030071 -0.114806 -0.061176
|
||||
v 0.004560 -0.112910 -0.058340
|
||||
f 127 112 130
|
||||
f 108 106 109
|
||||
f 107 108 111
|
||||
f 111 110 112
|
||||
f 110 111 113
|
||||
f 108 109 114
|
||||
f 111 108 114
|
||||
f 106 108 115
|
||||
f 112 110 116
|
||||
f 109 106 118
|
||||
f 117 109 118
|
||||
f 113 117 118
|
||||
f 113 111 119
|
||||
f 117 113 119
|
||||
f 114 109 120
|
||||
f 111 114 120
|
||||
f 109 117 120
|
||||
f 106 110 121
|
||||
f 110 113 121
|
||||
f 113 118 121
|
||||
f 106 115 122
|
||||
f 112 116 123
|
||||
f 108 107 124
|
||||
f 111 112 124
|
||||
f 119 111 125
|
||||
f 117 119 125
|
||||
f 120 117 125
|
||||
f 111 120 125
|
||||
f 107 111 126
|
||||
f 124 107 126
|
||||
f 111 124 126
|
||||
f 115 108 127
|
||||
f 108 124 127
|
||||
f 124 112 127
|
||||
f 118 106 128
|
||||
f 106 121 128
|
||||
f 121 118 128
|
||||
f 110 106 129
|
||||
f 116 110 129
|
||||
f 106 122 129
|
||||
f 122 116 129
|
||||
f 122 115 130
|
||||
f 116 122 130
|
||||
f 123 116 130
|
||||
f 112 123 130
|
||||
f 115 127 130
|
||||
o convex_5
|
||||
v -0.037967 -0.027862 -0.050778
|
||||
v -0.038912 0.006135 0.047499
|
||||
v -0.036076 0.008018 0.043709
|
||||
v -0.050250 0.042036 -0.014857
|
||||
v -0.048360 -0.059998 -0.001639
|
||||
v -0.036076 0.039206 -0.018638
|
||||
v -0.036076 -0.060945 -0.002582
|
||||
v -0.051195 0.026931 0.034262
|
||||
v -0.050250 0.004241 -0.045102
|
||||
v -0.046470 -0.027862 0.040881
|
||||
v -0.039857 0.042993 0.018197
|
||||
v -0.049304 -0.036372 -0.041322
|
||||
v -0.036076 0.016527 -0.041322
|
||||
v -0.037023 -0.034479 0.036157
|
||||
v -0.050250 -0.005205 0.044652
|
||||
v -0.051195 0.026931 -0.034703
|
||||
v -0.036076 -0.035426 -0.048873
|
||||
v -0.044578 -0.060945 -0.012019
|
||||
v -0.036076 0.033537 0.027653
|
||||
v -0.051195 0.042036 0.010636
|
||||
v -0.038912 0.022208 -0.042264
|
||||
v -0.047414 0.027878 0.038043
|
||||
v -0.045524 -0.059987 0.004969
|
||||
v -0.039857 0.043940 -0.015800
|
||||
v -0.046470 -0.022193 -0.050778
|
||||
v -0.037967 -0.014629 0.046547
|
||||
v -0.049304 -0.037319 0.028586
|
||||
v -0.047414 0.013698 -0.046045
|
||||
v -0.048360 0.034483 -0.031875
|
||||
v -0.048360 0.044887 0.011588
|
||||
v -0.038912 0.006135 -0.047940
|
||||
v -0.038912 0.027878 0.038043
|
||||
v -0.047414 0.010868 0.046547
|
||||
v -0.036076 0.042993 0.002132
|
||||
v -0.046470 -0.035426 -0.046997
|
||||
v -0.037023 -0.061891 -0.009181
|
||||
v -0.048360 0.038270 0.026701
|
||||
v -0.046470 -0.009906 0.047499
|
||||
v -0.037023 -0.059987 0.004969
|
||||
v -0.045524 -0.039213 0.031434
|
||||
v -0.036076 -0.020299 0.040881
|
||||
v -0.039857 0.036377 -0.029980
|
||||
v -0.039857 0.045833 -0.007296
|
||||
v -0.048360 0.044887 -0.012019
|
||||
v -0.049304 -0.027862 -0.047940
|
||||
v -0.044578 -0.062838 -0.001639
|
||||
v -0.047414 0.027878 -0.038484
|
||||
v -0.048360 -0.058094 -0.011077
|
||||
v -0.038912 0.016538 0.044661
|
||||
v -0.039857 0.036377 0.029539
|
||||
v -0.039857 0.045833 0.006865
|
||||
v -0.049304 -0.018416 0.042766
|
||||
v -0.048360 0.038270 -0.027151
|
||||
v -0.036076 0.033537 -0.028094
|
||||
v -0.051195 0.042983 -0.006353
|
||||
v -0.048360 0.045833 0.004969
|
||||
v -0.050250 0.016527 0.041823
|
||||
v -0.045524 -0.028799 -0.050778
|
||||
v -0.037967 -0.002365 -0.048883
|
||||
v -0.047414 0.005199 -0.047940
|
||||
v -0.036076 0.022197 0.038033
|
||||
v -0.039857 -0.023129 0.043718
|
||||
v -0.051195 0.025984 -0.034703
|
||||
v -0.046470 -0.015576 0.046547
|
||||
f 192 156 194
|
||||
f 136 133 137
|
||||
f 136 137 143
|
||||
f 143 137 147
|
||||
f 133 136 149
|
||||
f 146 138 150
|
||||
f 133 132 156
|
||||
f 142 135 157
|
||||
f 135 153 157
|
||||
f 139 146 158
|
||||
f 151 143 161
|
||||
f 158 151 161
|
||||
f 149 136 164
|
||||
f 141 149 164
|
||||
f 147 148 165
|
||||
f 147 137 166
|
||||
f 148 147 166
|
||||
f 150 138 167
|
||||
f 138 152 167
|
||||
f 160 150 167
|
||||
f 141 160 167
|
||||
f 156 132 168
|
||||
f 163 145 168
|
||||
f 132 163 168
|
||||
f 137 144 169
|
||||
f 144 140 170
|
||||
f 140 157 170
|
||||
f 157 153 170
|
||||
f 169 144 170
|
||||
f 153 169 170
|
||||
f 137 133 171
|
||||
f 144 137 171
|
||||
f 133 156 171
|
||||
f 156 144 171
|
||||
f 154 136 172
|
||||
f 136 154 173
|
||||
f 164 136 173
|
||||
f 173 154 174
|
||||
f 139 155 175
|
||||
f 165 142 175
|
||||
f 135 148 176
|
||||
f 153 135 176
|
||||
f 166 137 176
|
||||
f 148 166 176
|
||||
f 137 169 176
|
||||
f 169 153 176
|
||||
f 158 146 177
|
||||
f 151 158 177
|
||||
f 146 159 177
|
||||
f 172 151 177
|
||||
f 159 172 177
|
||||
f 135 142 178
|
||||
f 148 135 178
|
||||
f 142 165 178
|
||||
f 165 148 178
|
||||
f 132 133 179
|
||||
f 162 152 179
|
||||
f 152 163 179
|
||||
f 163 132 179
|
||||
f 149 141 180
|
||||
f 162 149 180
|
||||
f 152 162 180
|
||||
f 167 152 180
|
||||
f 141 167 180
|
||||
f 160 141 181
|
||||
f 141 164 181
|
||||
f 164 173 181
|
||||
f 157 140 182
|
||||
f 145 157 182
|
||||
f 146 134 183
|
||||
f 159 146 183
|
||||
f 154 172 183
|
||||
f 172 159 183
|
||||
f 134 174 183
|
||||
f 174 154 183
|
||||
f 136 143 184
|
||||
f 143 151 184
|
||||
f 172 136 184
|
||||
f 151 172 184
|
||||
f 134 146 185
|
||||
f 146 150 185
|
||||
f 174 134 185
|
||||
f 174 185 186
|
||||
f 150 160 186
|
||||
f 173 174 186
|
||||
f 160 181 186
|
||||
f 181 173 186
|
||||
f 185 150 186
|
||||
f 138 145 187
|
||||
f 152 138 187
|
||||
f 163 152 187
|
||||
f 145 163 187
|
||||
f 131 147 188
|
||||
f 155 131 188
|
||||
f 147 165 188
|
||||
f 175 155 188
|
||||
f 165 175 188
|
||||
f 147 131 189
|
||||
f 143 147 189
|
||||
f 131 155 189
|
||||
f 161 143 189
|
||||
f 161 189 190
|
||||
f 155 139 190
|
||||
f 139 158 190
|
||||
f 158 161 190
|
||||
f 189 155 190
|
||||
f 133 149 191
|
||||
f 149 162 191
|
||||
f 179 133 191
|
||||
f 162 179 191
|
||||
f 140 144 192
|
||||
f 144 156 192
|
||||
f 145 138 193
|
||||
f 138 146 193
|
||||
f 146 139 193
|
||||
f 142 157 193
|
||||
f 157 145 193
|
||||
f 139 175 193
|
||||
f 175 142 193
|
||||
f 168 145 194
|
||||
f 156 168 194
|
||||
f 182 140 194
|
||||
f 145 182 194
|
||||
f 140 192 194
|
||||
o convex_6
|
||||
v -0.035131 -0.044875 -0.050778
|
||||
v -0.001112 0.002351 0.044664
|
||||
v 0.031016 0.008974 0.040880
|
||||
v 0.030071 -0.103458 -0.049825
|
||||
v 0.030071 0.032587 -0.027151
|
||||
v -0.036076 0.042985 0.002137
|
||||
v -0.036076 -0.028828 0.036153
|
||||
v -0.026623 -0.097780 -0.042267
|
||||
v -0.036076 0.011806 -0.043211
|
||||
v 0.031962 -0.024094 0.034266
|
||||
v 0.028180 -0.032589 -0.050769
|
||||
v 0.030071 0.036377 0.021037
|
||||
v -0.036076 0.022204 0.038040
|
||||
v 0.031016 0.015581 -0.039436
|
||||
v -0.036076 0.034489 -0.027142
|
||||
v 0.030071 0.041097 -0.009186
|
||||
v -0.036076 -0.064727 -0.006355
|
||||
v -0.025677 -0.095892 -0.050778
|
||||
v -0.008668 -0.033533 0.031426
|
||||
v 0.032907 -0.028813 -0.026198
|
||||
v -0.036076 -0.010878 0.043711
|
||||
v -0.005832 0.041097 0.016310
|
||||
v 0.031016 -0.102514 -0.050769
|
||||
v -0.002050 0.025965 -0.036587
|
||||
v -0.002050 0.023133 0.038040
|
||||
v -0.001112 -0.014669 0.042768
|
||||
v -0.036076 0.036363 0.023868
|
||||
v -0.005832 0.042041 -0.013913
|
||||
v -0.036076 -0.034477 -0.050778
|
||||
v 0.032907 -0.028813 0.025755
|
||||
v -0.001112 0.012750 -0.043211
|
||||
v 0.031016 0.033546 0.021981
|
||||
v -0.002050 0.043944 0.003081
|
||||
v 0.030071 -0.101556 -0.046985
|
||||
v -0.036076 -0.038253 0.026708
|
||||
v 0.031016 -0.008032 0.040880
|
||||
v -0.036076 0.008030 0.043711
|
||||
v 0.031962 -0.030701 0.028595
|
||||
v 0.030071 0.026909 0.032369
|
||||
v -0.002050 0.034475 0.027652
|
||||
v 0.030071 0.041097 0.008752
|
||||
v 0.004553 -0.104417 -0.049816
|
||||
v 0.031962 0.002351 -0.039436
|
||||
v -0.002050 0.035433 -0.027142
|
||||
v -0.001112 0.015581 0.041824
|
||||
v -0.036076 0.041097 -0.013913
|
||||
v -0.001112 -0.027899 0.036153
|
||||
v -0.035131 0.025035 -0.036587
|
||||
v 0.031016 0.033546 -0.022424
|
||||
v -0.000173 -0.036365 0.027652
|
||||
v 0.030071 0.039209 -0.015809
|
||||
v 0.024399 -0.104417 -0.049825
|
||||
v 0.031016 0.017469 0.038040
|
||||
v -0.036076 0.042041 0.009695
|
||||
v -0.025677 0.027867 0.034266
|
||||
v -0.017176 0.008030 -0.044145
|
||||
v 0.032907 -0.039197 0.005912
|
||||
v 0.031962 -0.017486 0.038040
|
||||
v -0.035131 -0.020332 0.040880
|
||||
v 0.030071 0.026909 -0.032813
|
||||
v 0.031016 0.008974 -0.041323
|
||||
v 0.031962 0.002351 0.038984
|
||||
v -0.027568 0.042985 -0.006355
|
||||
v -0.026623 -0.095892 -0.047938
|
||||
f 195 212 258
|
||||
f 201 200 203
|
||||
f 200 201 207
|
||||
f 203 200 209
|
||||
f 201 203 211
|
||||
f 207 201 215
|
||||
f 212 205 217
|
||||
f 196 215 220
|
||||
f 200 207 221
|
||||
f 195 211 223
|
||||
f 211 203 223
|
||||
f 212 195 223
|
||||
f 205 212 223
|
||||
f 218 208 225
|
||||
f 203 218 225
|
||||
f 224 214 226
|
||||
f 210 222 227
|
||||
f 198 217 228
|
||||
f 201 211 229
|
||||
f 211 202 229
|
||||
f 213 201 229
|
||||
f 197 196 230
|
||||
f 196 220 230
|
||||
f 215 196 231
|
||||
f 207 215 231
|
||||
f 224 204 232
|
||||
f 217 224 232
|
||||
f 228 217 232
|
||||
f 226 206 233
|
||||
f 206 216 234
|
||||
f 216 221 234
|
||||
f 219 233 234
|
||||
f 233 206 234
|
||||
f 216 206 235
|
||||
f 206 226 235
|
||||
f 226 210 235
|
||||
f 210 227 235
|
||||
f 227 216 235
|
||||
f 202 212 236
|
||||
f 212 217 236
|
||||
f 229 202 236
|
||||
f 214 217 237
|
||||
f 199 218 238
|
||||
f 218 209 238
|
||||
f 209 222 238
|
||||
f 196 197 239
|
||||
f 219 207 239
|
||||
f 231 196 239
|
||||
f 207 231 239
|
||||
f 209 200 240
|
||||
f 222 209 240
|
||||
f 201 213 241
|
||||
f 232 204 241
|
||||
f 203 209 242
|
||||
f 218 203 242
|
||||
f 209 218 242
|
||||
f 210 226 243
|
||||
f 226 214 243
|
||||
f 237 208 243
|
||||
f 214 237 243
|
||||
f 213 228 244
|
||||
f 228 232 244
|
||||
f 241 213 244
|
||||
f 232 241 244
|
||||
f 222 210 245
|
||||
f 199 238 245
|
||||
f 238 222 245
|
||||
f 243 199 245
|
||||
f 210 243 245
|
||||
f 217 198 246
|
||||
f 198 228 246
|
||||
f 228 213 246
|
||||
f 213 229 246
|
||||
f 236 217 246
|
||||
f 229 236 246
|
||||
f 233 219 247
|
||||
f 226 233 247
|
||||
f 239 197 247
|
||||
f 219 239 247
|
||||
f 200 221 248
|
||||
f 221 216 248
|
||||
f 227 200 248
|
||||
f 216 227 248
|
||||
f 207 219 249
|
||||
f 221 207 249
|
||||
f 219 234 249
|
||||
f 234 221 249
|
||||
f 223 203 250
|
||||
f 205 223 250
|
||||
f 203 225 250
|
||||
f 225 205 250
|
||||
f 217 214 251
|
||||
f 214 224 251
|
||||
f 224 217 251
|
||||
f 204 224 252
|
||||
f 230 220 252
|
||||
f 241 204 252
|
||||
f 220 241 252
|
||||
f 215 201 253
|
||||
f 220 215 253
|
||||
f 201 241 253
|
||||
f 241 220 253
|
||||
f 218 199 254
|
||||
f 208 218 254
|
||||
f 199 243 254
|
||||
f 243 208 254
|
||||
f 217 205 255
|
||||
f 205 225 255
|
||||
f 225 208 255
|
||||
f 208 237 255
|
||||
f 237 217 255
|
||||
f 224 226 256
|
||||
f 197 230 256
|
||||
f 247 197 256
|
||||
f 226 247 256
|
||||
f 252 224 256
|
||||
f 230 252 256
|
||||
f 200 227 257
|
||||
f 227 222 257
|
||||
f 240 200 257
|
||||
f 222 240 257
|
||||
f 202 211 258
|
||||
f 211 195 258
|
||||
f 212 202 258
|
||||
o convex_7
|
||||
v 0.000779 -0.166794 -0.155662
|
||||
v 0.002669 -0.216863 -0.149048
|
||||
v 0.008336 -0.216863 -0.149048
|
||||
v 0.006446 -0.165845 -0.110311
|
||||
v 0.007391 -0.178131 -0.164165
|
||||
v -0.001111 -0.166794 -0.113154
|
||||
v -0.001111 -0.190413 -0.162276
|
||||
v 0.010228 -0.212139 -0.135830
|
||||
v -0.000165 -0.209302 -0.135830
|
||||
v 0.010228 -0.208358 -0.156606
|
||||
v 0.006446 -0.165845 -0.154718
|
||||
v 0.010228 -0.197020 -0.135830
|
||||
v -0.001111 -0.165845 -0.151885
|
||||
v 0.002669 -0.211190 -0.133941
|
||||
v 0.002669 -0.194184 -0.164165
|
||||
v -0.000165 -0.209302 -0.154718
|
||||
v 0.001724 -0.178131 -0.164165
|
||||
v 0.010228 -0.197020 -0.154718
|
||||
v -0.001111 -0.191352 -0.127327
|
||||
v 0.002669 -0.211190 -0.156606
|
||||
v 0.007391 -0.191352 -0.165114
|
||||
v 0.001724 -0.165845 -0.110311
|
||||
v 0.002669 -0.216863 -0.141489
|
||||
v -0.000165 -0.214027 -0.149048
|
||||
v 0.008336 -0.211190 -0.133941
|
||||
v 0.010228 -0.215915 -0.142433
|
||||
v 0.001724 -0.166794 -0.110311
|
||||
v -0.001111 -0.179075 -0.161332
|
||||
v 0.001724 -0.181912 -0.165114
|
||||
v 0.008336 -0.212139 -0.155662
|
||||
v -0.000165 -0.214027 -0.141489
|
||||
v 0.006446 -0.166794 -0.110311
|
||||
f 285 283 290
|
||||
f 263 259 269
|
||||
f 262 266 270
|
||||
f 266 268 270
|
||||
f 269 262 270
|
||||
f 265 264 271
|
||||
f 269 259 271
|
||||
f 262 269 271
|
||||
f 264 267 272
|
||||
f 259 263 275
|
||||
f 268 263 276
|
||||
f 263 269 276
|
||||
f 270 268 276
|
||||
f 269 270 276
|
||||
f 264 265 277
|
||||
f 267 264 277
|
||||
f 265 273 278
|
||||
f 274 265 278
|
||||
f 263 268 279
|
||||
f 278 273 279
|
||||
f 262 271 280
|
||||
f 271 264 280
|
||||
f 260 261 281
|
||||
f 265 274 282
|
||||
f 277 265 282
|
||||
f 278 260 282
|
||||
f 274 278 282
|
||||
f 260 281 282
|
||||
f 281 266 283
|
||||
f 272 281 283
|
||||
f 261 268 284
|
||||
f 268 266 284
|
||||
f 281 261 284
|
||||
f 266 281 284
|
||||
f 264 272 285
|
||||
f 262 280 285
|
||||
f 280 264 285
|
||||
f 272 283 285
|
||||
f 271 259 286
|
||||
f 265 271 286
|
||||
f 259 275 286
|
||||
f 286 275 287
|
||||
f 273 265 287
|
||||
f 275 263 287
|
||||
f 263 279 287
|
||||
f 279 273 287
|
||||
f 265 286 287
|
||||
f 261 260 288
|
||||
f 268 261 288
|
||||
f 260 278 288
|
||||
f 279 268 288
|
||||
f 278 279 288
|
||||
f 272 267 289
|
||||
f 267 277 289
|
||||
f 281 272 289
|
||||
f 277 282 289
|
||||
f 282 281 289
|
||||
f 266 262 290
|
||||
f 283 266 290
|
||||
f 262 285 290
|
||||
o convex_8
|
||||
v -0.000167 -0.165837 -0.152826
|
||||
v 0.014008 -0.151666 -0.099916
|
||||
v 0.005504 -0.151666 -0.099916
|
||||
v 0.014008 -0.151666 -0.144323
|
||||
v 0.014008 -0.164892 -0.109374
|
||||
v -0.001112 -0.165837 -0.112206
|
||||
v -0.002057 -0.155447 -0.142435
|
||||
v 0.014008 -0.161113 -0.149993
|
||||
v 0.000778 -0.152613 -0.144323
|
||||
v 0.006447 -0.165837 -0.154714
|
||||
v -0.002057 -0.157337 -0.113151
|
||||
v 0.006447 -0.165837 -0.110318
|
||||
v -0.002057 -0.160169 -0.145267
|
||||
v 0.004558 -0.151666 -0.141491
|
||||
v 0.001723 -0.164892 -0.154714
|
||||
v 0.000778 -0.152613 -0.131095
|
||||
v -0.002057 -0.160169 -0.110318
|
||||
v 0.001723 -0.163948 -0.108430
|
||||
v -0.001112 -0.165837 -0.150938
|
||||
v 0.014008 -0.152613 -0.099916
|
||||
v 0.014008 -0.163948 -0.125435
|
||||
f 300 298 311
|
||||
f 293 292 294
|
||||
f 294 292 295
|
||||
f 294 295 298
|
||||
f 291 297 299
|
||||
f 296 291 300
|
||||
f 294 298 300
|
||||
f 296 300 302
|
||||
f 300 295 302
|
||||
f 301 297 303
|
||||
f 293 294 304
|
||||
f 294 299 304
|
||||
f 299 294 305
|
||||
f 291 299 305
|
||||
f 300 291 305
|
||||
f 294 300 305
|
||||
f 299 297 306
|
||||
f 301 293 306
|
||||
f 297 301 306
|
||||
f 293 304 306
|
||||
f 304 299 306
|
||||
f 293 301 307
|
||||
f 303 296 307
|
||||
f 301 303 307
|
||||
f 302 295 308
|
||||
f 296 302 308
|
||||
f 293 307 308
|
||||
f 307 296 308
|
||||
f 291 296 309
|
||||
f 297 291 309
|
||||
f 296 303 309
|
||||
f 303 297 309
|
||||
f 292 293 310
|
||||
f 295 292 310
|
||||
f 293 308 310
|
||||
f 308 295 310
|
||||
f 298 295 311
|
||||
f 295 300 311
|
||||
104
examples/pybullet/gym/pybullet_envs/examples/laikago.py
Normal file
104
examples/pybullet/gym/pybullet_envs/examples/laikago.py
Normal file
@@ -0,0 +1,104 @@
|
||||
import pybullet as p
|
||||
import pybullet_data as pd
|
||||
|
||||
import time
|
||||
|
||||
p.connect(p.GUI)
|
||||
p.setAdditionalSearchPath(pd.getDataPath())
|
||||
|
||||
plane = p.loadURDF("plane.urdf")
|
||||
p.setGravity(0,0,-9.8)
|
||||
p.setTimeStep(1./500)
|
||||
#p.setDefaultContactERP(0)
|
||||
#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
|
||||
urdfFlags = p.URDF_USE_SELF_COLLISION
|
||||
quadruped = p.loadURDF("laikago/laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
|
||||
|
||||
#enable collision between lower legs
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
print(p.getJointInfo(quadruped,j))
|
||||
|
||||
#2,5,8 and 11 are the lower legs
|
||||
lower_legs = [2,5,8,11]
|
||||
for l0 in lower_legs:
|
||||
for l1 in lower_legs:
|
||||
if (l1>l0):
|
||||
enableCollision = 1
|
||||
print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
|
||||
p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
|
||||
|
||||
jointIds=[]
|
||||
paramIds=[]
|
||||
jointOffsets=[]
|
||||
jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
|
||||
jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
|
||||
|
||||
for i in range (4):
|
||||
jointOffsets.append(0)
|
||||
jointOffsets.append(-0.7)
|
||||
jointOffsets.append(0.7)
|
||||
|
||||
maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
|
||||
info = p.getJointInfo(quadruped,j)
|
||||
#print(info)
|
||||
jointName = info[1]
|
||||
jointType = info[2]
|
||||
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
|
||||
jointIds.append(j)
|
||||
|
||||
|
||||
p.getCameraImage(480,320)
|
||||
p.setRealTimeSimulation(0)
|
||||
|
||||
joints=[]
|
||||
|
||||
with open(pd.getDataPath()+"/laikago/data1.txt","r") as filestream:
|
||||
for line in filestream:
|
||||
print("line=",line)
|
||||
maxForce = p.readUserDebugParameter(maxForceId)
|
||||
currentline = line.split(",")
|
||||
#print (currentline)
|
||||
#print("-----")
|
||||
frame = currentline[0]
|
||||
t = currentline[1]
|
||||
#print("frame[",frame,"]")
|
||||
joints=currentline[2:14]
|
||||
#print("joints=",joints)
|
||||
for j in range (12):
|
||||
targetPos = float(joints[j])
|
||||
p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
|
||||
p.stepSimulation()
|
||||
for lower_leg in lower_legs:
|
||||
#print("points for ", quadruped, " link: ", lower_leg)
|
||||
pts = p.getContactPoints(quadruped,-1, lower_leg)
|
||||
#print("num points=",len(pts))
|
||||
#for pt in pts:
|
||||
# print(pt[9])
|
||||
time.sleep(1./500.)
|
||||
|
||||
|
||||
for j in range (p.getNumJoints(quadruped)):
|
||||
p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
|
||||
info = p.getJointInfo(quadruped,j)
|
||||
js = p.getJointState(quadruped,j)
|
||||
#print(info)
|
||||
jointName = info[1]
|
||||
jointType = info[2]
|
||||
if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
|
||||
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))
|
||||
|
||||
|
||||
p.setRealTimeSimulation(1)
|
||||
|
||||
while (1):
|
||||
|
||||
for i in range(len(paramIds)):
|
||||
c = paramIds[i]
|
||||
targetPos = p.readUserDebugParameter(c)
|
||||
maxForce = p.readUserDebugParameter(maxForceId)
|
||||
p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
|
||||
|
||||
2
setup.py
2
setup.py
@@ -548,7 +548,7 @@ hh = setup_py_dir + "/" + datadir
|
||||
for root, dirs, files in os.walk(hh):
|
||||
for fn in files:
|
||||
ext = os.path.splitext(fn)[1][1:]
|
||||
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj mtl dae off stl STL xml '.split():
|
||||
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split():
|
||||
fn = root + "/" + fn
|
||||
need_files.append(fn[1+len(hh):])
|
||||
|
||||
|
||||
Reference in New Issue
Block a user