0511a36a67
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}
}
3395 lines
66 KiB
Plaintext
3395 lines
66 KiB
Plaintext
# Blender v2.71 (sub 0) OBJ File: ''
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# www.blender.org
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mtllib upper_leg_left.mtl
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o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint.001
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v -0.030604 -0.192997 -0.142299
|
|
v -0.030731 -0.197215 -0.154191
|
|
v -0.030781 -0.198866 -0.155163
|
|
v -0.031012 -0.206526 -0.134630
|
|
v -0.030955 -0.204641 -0.134282
|
|
v -0.030897 -0.202725 -0.134266
|
|
v -0.030840 -0.200835 -0.134584
|
|
v -0.030950 -0.204463 -0.156198
|
|
v -0.031007 -0.206353 -0.155880
|
|
v -0.031062 -0.208160 -0.155239
|
|
v -0.031112 -0.209827 -0.154294
|
|
v -0.031157 -0.211305 -0.153073
|
|
v -0.031194 -0.212549 -0.151614
|
|
v -0.031224 -0.213521 -0.149962
|
|
v -0.031244 -0.214191 -0.148165
|
|
v -0.031254 -0.214539 -0.146280
|
|
v -0.031255 -0.214554 -0.144362
|
|
v -0.031245 -0.214237 -0.142471
|
|
v -0.031226 -0.213596 -0.140664
|
|
v -0.031197 -0.212651 -0.138996
|
|
v -0.031160 -0.211431 -0.137517
|
|
v -0.031116 -0.209973 -0.136273
|
|
v -0.031066 -0.208321 -0.135301
|
|
v -0.030786 -0.199028 -0.135225
|
|
v -0.030735 -0.197361 -0.136170
|
|
v -0.030234 0.027908 -0.027533
|
|
v -0.030104 0.032234 -0.022290
|
|
v -0.030003 0.035583 -0.016375
|
|
v -0.029934 0.037855 -0.009968
|
|
v -0.029900 0.038981 -0.003264
|
|
v -0.029902 0.038926 0.003534
|
|
v -0.029939 0.037692 0.010219
|
|
v -0.030011 0.035316 0.016588
|
|
v -0.030115 0.031871 0.022448
|
|
v -0.030248 0.027461 0.027620
|
|
v -0.030406 0.022220 0.031947
|
|
v -0.030585 0.016308 0.035298
|
|
v -0.030778 0.009904 0.037571
|
|
v -0.030981 0.003203 0.038698
|
|
v -0.031186 -0.003592 0.038642
|
|
v -0.031388 -0.010274 0.037408
|
|
v -0.031580 -0.016640 0.035031
|
|
v -0.031757 -0.022497 0.031584
|
|
v -0.031913 -0.027667 0.027172
|
|
v -0.032044 -0.031992 0.021929
|
|
v -0.032145 -0.035342 0.016014
|
|
v -0.032213 -0.037614 0.009607
|
|
v -0.032247 -0.038739 0.002903
|
|
v -0.032246 -0.038684 -0.003895
|
|
v -0.032208 -0.037450 -0.010580
|
|
v -0.032137 -0.035074 -0.016949
|
|
v -0.032033 -0.031629 -0.022808
|
|
v -0.031899 -0.027219 -0.027980
|
|
v -0.031741 -0.021979 -0.032308
|
|
v -0.031563 -0.016066 -0.035659
|
|
v -0.031369 -0.009663 -0.037932
|
|
v -0.031167 -0.002961 -0.039058
|
|
v -0.030962 0.003833 -0.039003
|
|
v -0.030760 0.010515 -0.037768
|
|
v -0.030567 0.016882 -0.035391
|
|
v -0.030391 0.022739 -0.031945
|
|
v -0.031074 0.000121 -0.000180
|
|
v -0.009247 -0.196404 -0.152947
|
|
v -0.009210 -0.195184 -0.151468
|
|
v -0.009181 -0.194239 -0.149800
|
|
v -0.009162 -0.193598 -0.147993
|
|
v -0.009152 -0.193281 -0.146102
|
|
v -0.009153 -0.193296 -0.144184
|
|
v -0.009163 -0.193645 -0.142299
|
|
v -0.009184 -0.194315 -0.140502
|
|
v -0.009213 -0.195286 -0.138850
|
|
v -0.009251 -0.196530 -0.137391
|
|
v -0.009295 -0.198008 -0.136170
|
|
v -0.009346 -0.199676 -0.135225
|
|
v -0.009400 -0.201482 -0.134584
|
|
v -0.009457 -0.203372 -0.134266
|
|
v -0.009515 -0.205289 -0.134282
|
|
v -0.009572 -0.207173 -0.134630
|
|
v -0.009626 -0.208969 -0.135301
|
|
v -0.009676 -0.210621 -0.136273
|
|
v -0.009720 -0.212079 -0.137517
|
|
v -0.009757 -0.213299 -0.138996
|
|
v -0.009786 -0.214244 -0.140664
|
|
v -0.009805 -0.214885 -0.142471
|
|
v -0.009815 -0.215202 -0.144362
|
|
v -0.009814 -0.215186 -0.146280
|
|
v -0.009804 -0.214838 -0.148165
|
|
v -0.009783 -0.214168 -0.149962
|
|
v -0.009754 -0.213197 -0.151614
|
|
v -0.009716 -0.211953 -0.153073
|
|
v -0.009672 -0.210475 -0.154294
|
|
v -0.009621 -0.208807 -0.155239
|
|
v -0.009567 -0.207001 -0.155880
|
|
v -0.009510 -0.205111 -0.156198
|
|
v -0.009452 -0.203194 -0.156182
|
|
v -0.009395 -0.201310 -0.155834
|
|
v -0.009341 -0.199514 -0.155163
|
|
v -0.009291 -0.197862 -0.154191
|
|
v -0.009483 -0.204241 -0.145232
|
|
v -0.029117 -0.208380 -0.135301
|
|
v -0.029063 -0.206585 -0.134630
|
|
v -0.029006 -0.204700 -0.134282
|
|
v -0.028948 -0.202783 -0.134266
|
|
v -0.028891 -0.200893 -0.134584
|
|
v -0.028837 -0.199087 -0.135225
|
|
v -0.028786 -0.197420 -0.136170
|
|
v -0.028742 -0.195942 -0.137391
|
|
v -0.028704 -0.194698 -0.138850
|
|
v -0.028675 -0.193726 -0.140502
|
|
v -0.028655 -0.193056 -0.142299
|
|
v -0.028644 -0.192708 -0.144184
|
|
v -0.028644 -0.192692 -0.146102
|
|
v -0.028653 -0.193010 -0.147993
|
|
v -0.028672 -0.193651 -0.149800
|
|
v -0.028701 -0.194595 -0.151468
|
|
v -0.028738 -0.195815 -0.152947
|
|
v -0.028782 -0.197273 -0.154191
|
|
v -0.028832 -0.198925 -0.155163
|
|
v -0.028886 -0.200721 -0.155834
|
|
v -0.028943 -0.202606 -0.156182
|
|
v -0.029001 -0.204522 -0.156198
|
|
v -0.029058 -0.206412 -0.155880
|
|
v -0.029112 -0.208218 -0.155239
|
|
v -0.029163 -0.209886 -0.154294
|
|
v -0.029207 -0.211364 -0.153073
|
|
v -0.029245 -0.212608 -0.151614
|
|
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|
|
v -0.029295 -0.214250 -0.148165
|
|
v -0.029305 -0.214598 -0.146280
|
|
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|
|
v -0.029296 -0.214296 -0.142471
|
|
v -0.029277 -0.213655 -0.140664
|
|
v -0.029248 -0.212710 -0.138996
|
|
v -0.029211 -0.211490 -0.137517
|
|
v -0.029167 -0.210032 -0.136273
|
|
v -0.028975 -0.203653 -0.145232
|
|
usemtl None
|
|
s off
|
|
f 1 2 3
|
|
f 3 2 4
|
|
f 3 4 5
|
|
f 5 4 6
|
|
f 6 4 7
|
|
f 6 7 8
|
|
f 8 7 9
|
|
f 9 7 10
|
|
f 9 10 11
|
|
f 11 10 12
|
|
f 12 10 13
|
|
f 12 13 14
|
|
f 14 13 15
|
|
f 15 13 16
|
|
f 15 16 17
|
|
f 18 19 20
|
|
f 21 22 23
|
|
f 23 24 21
|
|
f 21 24 25
|
|
f 21 25 26
|
|
f 26 25 27
|
|
f 26 27 28
|
|
f 20 19 29
|
|
f 19 30 29
|
|
f 29 30 31
|
|
f 29 31 22
|
|
f 22 31 32
|
|
f 22 32 23
|
|
f 18 20 33
|
|
f 33 20 34
|
|
f 33 34 35
|
|
f 35 34 36
|
|
f 35 36 37
|
|
f 37 36 38
|
|
f 38 36 39
|
|
f 38 39 40
|
|
f 40 39 41
|
|
f 41 39 42
|
|
f 41 42 43
|
|
f 43 42 44
|
|
f 44 42 45
|
|
f 44 45 46
|
|
f 46 45 47
|
|
f 47 45 48
|
|
f 47 48 49
|
|
f 49 48 50
|
|
f 50 48 51
|
|
f 50 51 52
|
|
f 52 51 53
|
|
f 53 51 54
|
|
f 53 54 55
|
|
f 55 54 56
|
|
f 56 54 57
|
|
f 56 57 58
|
|
f 59 60 61
|
|
f 61 60 62
|
|
f 63 64 65
|
|
f 65 64 66
|
|
f 67 2 68
|
|
f 68 2 1
|
|
f 54 51 60
|
|
f 60 51 48
|
|
f 69 70 39
|
|
f 39 70 71
|
|
f 54 60 57
|
|
f 57 60 59
|
|
f 57 59 72
|
|
f 66 73 39
|
|
f 73 74 39
|
|
f 39 74 75
|
|
f 39 75 69
|
|
f 48 45 60
|
|
f 60 45 42
|
|
f 60 42 76
|
|
f 76 42 39
|
|
f 76 39 77
|
|
f 77 39 71
|
|
f 39 36 66
|
|
f 66 36 34
|
|
f 66 34 65
|
|
f 65 34 20
|
|
f 65 20 29
|
|
f 26 13 21
|
|
f 21 13 10
|
|
f 21 10 22
|
|
f 22 10 7
|
|
f 72 78 57
|
|
f 57 78 79
|
|
f 57 79 80
|
|
f 80 81 57
|
|
f 57 81 82
|
|
f 57 82 83
|
|
f 83 84 85
|
|
f 7 4 22
|
|
f 22 4 2
|
|
f 22 2 29
|
|
f 86 87 65
|
|
f 88 89 26
|
|
f 85 90 83
|
|
f 83 90 91
|
|
f 83 91 92
|
|
f 92 93 83
|
|
f 83 93 94
|
|
f 83 94 57
|
|
f 29 2 65
|
|
f 65 2 67
|
|
f 65 67 86
|
|
f 95 96 97
|
|
f 97 96 98
|
|
f 97 98 99
|
|
f 89 100 26
|
|
f 26 100 16
|
|
f 26 16 13
|
|
f 101 102 103
|
|
f 99 98 26
|
|
f 26 98 104
|
|
f 26 104 88
|
|
f 97 105 106
|
|
f 87 107 65
|
|
f 65 107 108
|
|
f 65 108 103
|
|
f 103 108 109
|
|
f 103 109 101
|
|
f 106 110 97
|
|
f 97 110 111
|
|
f 97 111 95
|
|
f 64 33 35
|
|
f 33 64 18
|
|
f 18 64 63
|
|
f 18 63 19
|
|
f 35 37 64
|
|
f 64 37 38
|
|
f 64 38 112
|
|
f 19 63 30
|
|
f 30 63 113
|
|
f 30 113 31
|
|
f 31 113 114
|
|
f 31 114 115
|
|
f 116 40 62
|
|
f 62 40 41
|
|
f 62 41 43
|
|
f 117 118 119
|
|
f 119 118 120
|
|
f 119 120 68
|
|
f 116 121 40
|
|
f 40 121 122
|
|
f 40 122 123
|
|
f 43 44 62
|
|
f 62 44 46
|
|
f 62 46 47
|
|
f 12 27 11
|
|
f 11 27 25
|
|
f 11 25 9
|
|
f 9 25 24
|
|
f 9 24 8
|
|
f 23 5 24
|
|
f 24 5 6
|
|
f 24 6 8
|
|
f 115 119 31
|
|
f 31 119 68
|
|
f 31 68 32
|
|
f 32 68 1
|
|
f 32 1 23
|
|
f 23 1 3
|
|
f 23 3 5
|
|
f 123 124 40
|
|
f 40 124 125
|
|
f 40 125 38
|
|
f 38 125 126
|
|
f 38 126 112
|
|
f 127 128 119
|
|
f 119 128 129
|
|
f 119 129 117
|
|
f 47 49 62
|
|
f 62 49 50
|
|
f 62 50 52
|
|
f 12 14 27
|
|
f 27 14 15
|
|
f 27 15 28
|
|
f 28 15 17
|
|
f 28 17 130
|
|
f 130 131 28
|
|
f 28 131 132
|
|
f 28 132 133
|
|
f 52 53 62
|
|
f 62 53 55
|
|
f 62 55 61
|
|
f 55 56 61
|
|
f 61 56 58
|
|
f 61 58 134
|
|
f 134 58 135
|
|
f 133 136 28
|
|
f 28 136 137
|
|
f 28 137 138
|
|
f 139 140 58
|
|
f 58 140 141
|
|
f 58 141 135
|
|
f 138 142 28
|
|
f 28 142 143
|
|
f 28 143 144
|
|
f 144 143 145
|
|
f 144 145 146
|
|
f 146 145 147
|
|
f 148 149 150
|
|
f 150 149 151
|
|
f 150 151 152
|
|
f 152 151 153
|
|
f 152 153 154
|
|
f 154 153 155
|
|
f 154 155 58
|
|
f 58 155 156
|
|
f 58 156 139
|
|
f 63 65 113
|
|
f 113 65 103
|
|
f 113 103 114
|
|
f 114 103 115
|
|
f 115 103 102
|
|
f 115 102 119
|
|
f 119 102 101
|
|
f 119 101 127
|
|
f 127 101 109
|
|
f 127 109 128
|
|
f 128 109 108
|
|
f 128 108 129
|
|
f 129 108 107
|
|
f 129 107 117
|
|
f 117 107 87
|
|
f 117 87 118
|
|
f 118 87 86
|
|
f 118 86 120
|
|
f 120 86 67
|
|
f 120 67 68
|
|
f 62 60 76
|
|
f 62 76 116
|
|
f 116 76 77
|
|
f 116 77 121
|
|
f 121 77 71
|
|
f 121 71 122
|
|
f 122 71 70
|
|
f 122 70 123
|
|
f 123 70 69
|
|
f 123 69 124
|
|
f 124 69 75
|
|
f 124 75 125
|
|
f 125 75 74
|
|
f 125 74 126
|
|
f 126 74 73
|
|
f 126 73 112
|
|
f 112 73 66
|
|
f 112 66 64
|
|
f 17 16 100
|
|
f 17 100 130
|
|
f 130 100 89
|
|
f 130 89 131
|
|
f 131 89 88
|
|
f 131 88 132
|
|
f 132 88 104
|
|
f 132 104 133
|
|
f 133 104 98
|
|
f 133 98 136
|
|
f 136 98 96
|
|
f 136 96 137
|
|
f 137 96 95
|
|
f 137 95 138
|
|
f 138 95 111
|
|
f 138 111 142
|
|
f 142 111 110
|
|
f 142 110 143
|
|
f 143 110 106
|
|
f 143 106 145
|
|
f 145 106 105
|
|
f 145 105 147
|
|
f 147 105 97
|
|
f 147 97 146
|
|
f 146 97 99
|
|
f 146 99 144
|
|
f 144 99 26
|
|
f 144 26 28
|
|
f 58 57 94
|
|
f 58 94 154
|
|
f 154 94 93
|
|
f 154 93 152
|
|
f 152 93 92
|
|
f 152 92 150
|
|
f 150 92 91
|
|
f 150 91 148
|
|
f 148 91 90
|
|
f 148 90 149
|
|
f 149 90 85
|
|
f 149 85 151
|
|
f 151 85 84
|
|
f 151 84 153
|
|
f 153 84 83
|
|
f 153 83 155
|
|
f 155 83 82
|
|
f 155 82 156
|
|
f 156 82 81
|
|
f 156 81 139
|
|
f 139 81 80
|
|
f 139 80 140
|
|
f 140 80 79
|
|
f 140 79 141
|
|
f 141 79 78
|
|
f 141 78 135
|
|
f 135 78 72
|
|
f 135 72 134
|
|
f 134 72 59
|
|
f 134 59 61
|
|
f 157 1 158
|
|
f 157 158 159
|
|
f 159 158 160
|
|
f 159 160 161
|
|
f 161 160 162
|
|
f 161 162 163
|
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f 163 162 164
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f 163 164 165
|
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f 165 164 166
|
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f 165 166 167
|
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f 167 166 168
|
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f 167 168 169
|
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f 169 168 170
|
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f 169 170 171
|
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f 171 170 172
|
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f 171 172 173
|
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f 173 172 174
|
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f 173 174 175
|
|
f 175 174 176
|
|
f 175 176 177
|
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f 177 176 178
|
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f 177 178 179
|
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f 179 178 180
|
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f 179 180 181
|
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f 181 180 182
|
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f 181 182 183
|
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f 183 182 184
|
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f 183 184 185
|
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f 186 185 187
|
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f 187 185 184
|
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f 186 187 188
|
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f 186 188 189
|
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f 189 188 190
|
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f 189 190 191
|
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f 191 190 192
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f 191 192 193
|
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f 193 192 194
|
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f 193 194 195
|
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f 195 194 196
|
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f 195 196 197
|
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f 197 196 198
|
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f 197 198 199
|
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f 199 198 200
|
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f 199 200 201
|
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f 201 200 202
|
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f 201 202 203
|
|
f 203 202 204
|
|
f 203 204 205
|
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f 205 204 206
|
|
f 205 206 207
|
|
f 207 206 208
|
|
f 207 208 209
|
|
f 210 209 62
|
|
f 62 209 208
|
|
f 210 62 211
|
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f 210 211 212
|
|
f 212 211 213
|
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f 212 213 214
|
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f 214 213 215
|
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f 214 215 216
|
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f 216 215 217
|
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f 216 217 218
|
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f 218 217 219
|
|
f 218 219 220
|
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f 220 219 221
|
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f 220 221 222
|
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f 222 221 223
|
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f 222 223 224
|
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f 224 223 225
|
|
f 224 225 226
|
|
f 226 225 64
|
|
f 226 64 227
|
|
f 228 227 63
|
|
f 63 227 64
|
|
f 228 63 229
|
|
f 228 229 230
|
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f 230 229 231
|
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f 230 231 232
|
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f 232 231 233
|
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f 232 233 234
|
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f 234 233 235
|
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f 234 235 236
|
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f 236 235 237
|
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f 236 237 238
|
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f 238 237 239
|
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f 238 239 240
|
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f 240 239 241
|
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f 240 241 242
|
|
f 242 241 243
|
|
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f 1014 1127 1128
|
|
f 1014 1128 1015
|
|
f 1015 1128 1129
|
|
f 1015 1129 1016
|
|
f 1016 1129 1094
|
|
f 1113 1112 1130
|
|
f 1130 1112 1111
|
|
f 1130 1111 1110
|
|
f 1116 1115 1130
|
|
f 1130 1115 1114
|
|
f 1130 1114 1113
|
|
f 1119 1118 1130
|
|
f 1130 1118 1117
|
|
f 1130 1117 1116
|
|
f 1122 1121 1130
|
|
f 1130 1121 1120
|
|
f 1130 1120 1119
|
|
f 1125 1124 1130
|
|
f 1130 1124 1123
|
|
f 1130 1123 1122
|
|
f 1128 1127 1130
|
|
f 1130 1127 1126
|
|
f 1130 1126 1125
|
|
f 1095 1094 1130
|
|
f 1130 1094 1129
|
|
f 1130 1129 1128
|
|
f 1098 1097 1130
|
|
f 1130 1097 1096
|
|
f 1130 1096 1095
|
|
f 1101 1100 1130
|
|
f 1130 1100 1099
|
|
f 1130 1099 1098
|
|
f 1104 1103 1130
|
|
f 1130 1103 1102
|
|
f 1130 1102 1101
|
|
f 1107 1106 1130
|
|
f 1130 1106 1105
|
|
f 1130 1105 1104
|
|
f 1110 1109 1130
|
|
f 1130 1109 1108
|
|
f 1130 1108 1107
|