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
65 KiB
Plaintext
3395 lines
65 KiB
Plaintext
# Blender v2.71 (sub 0) OBJ File: ''
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# www.blender.org
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mtllib upper_leg_right.mtl
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o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_mirror
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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
|
|
v 0.029274 -0.213580 -0.149962
|
|
v 0.029295 -0.214250 -0.148165
|
|
v 0.029305 -0.214598 -0.146280
|
|
v 0.029306 -0.214613 -0.144362
|
|
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 2 4 3
|
|
f 2 5 4
|
|
f 5 6 4
|
|
f 6 7 4
|
|
f 6 8 7
|
|
f 8 9 7
|
|
f 9 10 7
|
|
f 9 11 10
|
|
f 11 12 10
|
|
f 12 13 10
|
|
f 12 14 13
|
|
f 14 15 13
|
|
f 15 16 13
|
|
f 15 17 16
|
|
f 18 19 20
|
|
f 21 22 23
|
|
f 22 21 24
|
|
f 21 25 24
|
|
f 21 26 25
|
|
f 26 27 25
|
|
f 26 28 27
|
|
f 19 29 20
|
|
f 20 29 30
|
|
f 29 31 30
|
|
f 29 23 31
|
|
f 23 32 31
|
|
f 23 22 32
|
|
f 18 33 19
|
|
f 33 34 19
|
|
f 33 35 34
|
|
f 35 36 34
|
|
f 35 37 36
|
|
f 37 38 36
|
|
f 38 39 36
|
|
f 38 40 39
|
|
f 40 41 39
|
|
f 41 42 39
|
|
f 41 43 42
|
|
f 43 44 42
|
|
f 44 45 42
|
|
f 44 46 45
|
|
f 46 47 45
|
|
f 47 48 45
|
|
f 47 49 48
|
|
f 49 50 48
|
|
f 50 51 48
|
|
f 50 52 51
|
|
f 52 53 51
|
|
f 53 54 51
|
|
f 53 55 54
|
|
f 55 56 54
|
|
f 56 57 54
|
|
f 56 58 57
|
|
f 59 60 61
|
|
f 60 62 61
|
|
f 63 64 65
|
|
f 64 66 65
|
|
f 67 68 3
|
|
f 68 1 3
|
|
f 54 61 51
|
|
f 61 48 51
|
|
f 69 39 70
|
|
f 39 71 70
|
|
f 54 57 61
|
|
f 57 59 61
|
|
f 57 72 59
|
|
f 66 39 73
|
|
f 73 39 74
|
|
f 39 75 74
|
|
f 39 69 75
|
|
f 48 61 45
|
|
f 61 42 45
|
|
f 61 76 42
|
|
f 76 39 42
|
|
f 76 77 39
|
|
f 77 71 39
|
|
f 39 66 36
|
|
f 66 34 36
|
|
f 66 64 34
|
|
f 64 19 34
|
|
f 64 29 19
|
|
f 26 21 13
|
|
f 21 10 13
|
|
f 21 23 10
|
|
f 23 7 10
|
|
f 72 57 78
|
|
f 57 79 78
|
|
f 57 80 79
|
|
f 80 57 81
|
|
f 57 82 81
|
|
f 57 83 82
|
|
f 83 84 85
|
|
f 7 23 4
|
|
f 23 3 4
|
|
f 23 29 3
|
|
f 86 64 87
|
|
f 88 26 89
|
|
f 84 83 90
|
|
f 83 91 90
|
|
f 83 92 91
|
|
f 92 83 93
|
|
f 83 94 93
|
|
f 83 57 94
|
|
f 29 64 3
|
|
f 64 67 3
|
|
f 64 86 67
|
|
f 95 96 97
|
|
f 96 98 97
|
|
f 96 99 98
|
|
f 89 26 100
|
|
f 26 16 100
|
|
f 26 13 16
|
|
f 101 102 103
|
|
f 99 26 98
|
|
f 26 104 98
|
|
f 26 88 104
|
|
f 96 105 106
|
|
f 87 64 107
|
|
f 64 108 107
|
|
f 64 102 108
|
|
f 102 109 108
|
|
f 102 101 109
|
|
f 105 96 110
|
|
f 96 111 110
|
|
f 96 95 111
|
|
f 65 35 33
|
|
f 33 18 65
|
|
f 18 63 65
|
|
f 18 20 63
|
|
f 35 65 37
|
|
f 65 38 37
|
|
f 65 112 38
|
|
f 20 30 63
|
|
f 30 113 63
|
|
f 30 31 113
|
|
f 31 114 113
|
|
f 31 115 114
|
|
f 116 62 40
|
|
f 62 41 40
|
|
f 62 43 41
|
|
f 117 118 119
|
|
f 118 120 119
|
|
f 118 68 120
|
|
f 116 40 121
|
|
f 40 122 121
|
|
f 40 123 122
|
|
f 43 62 44
|
|
f 62 46 44
|
|
f 62 47 46
|
|
f 12 11 27
|
|
f 11 25 27
|
|
f 11 9 25
|
|
f 9 24 25
|
|
f 9 8 24
|
|
f 22 24 5
|
|
f 24 6 5
|
|
f 24 8 6
|
|
f 115 31 118
|
|
f 31 68 118
|
|
f 31 32 68
|
|
f 32 1 68
|
|
f 32 22 1
|
|
f 22 2 1
|
|
f 22 5 2
|
|
f 123 40 124
|
|
f 40 125 124
|
|
f 40 38 125
|
|
f 38 126 125
|
|
f 38 112 126
|
|
f 127 118 128
|
|
f 118 129 128
|
|
f 118 117 129
|
|
f 47 62 49
|
|
f 62 50 49
|
|
f 62 52 50
|
|
f 12 27 14
|
|
f 27 15 14
|
|
f 27 28 15
|
|
f 28 17 15
|
|
f 28 130 17
|
|
f 130 28 131
|
|
f 28 132 131
|
|
f 28 133 132
|
|
f 52 62 53
|
|
f 62 55 53
|
|
f 62 60 55
|
|
f 55 60 56
|
|
f 60 58 56
|
|
f 60 134 58
|
|
f 134 135 58
|
|
f 133 28 136
|
|
f 28 137 136
|
|
f 28 138 137
|
|
f 139 58 140
|
|
f 58 141 140
|
|
f 58 135 141
|
|
f 138 28 142
|
|
f 28 143 142
|
|
f 28 144 143
|
|
f 144 145 143
|
|
f 144 146 145
|
|
f 146 147 145
|
|
f 148 149 150
|
|
f 149 151 150
|
|
f 149 152 151
|
|
f 152 153 151
|
|
f 152 154 153
|
|
f 154 155 153
|
|
f 154 58 155
|
|
f 58 156 155
|
|
f 58 139 156
|
|
f 63 113 64
|
|
f 113 102 64
|
|
f 113 114 102
|
|
f 114 115 102
|
|
f 115 103 102
|
|
f 115 118 103
|
|
f 118 101 103
|
|
f 118 127 101
|
|
f 127 109 101
|
|
f 127 128 109
|
|
f 128 108 109
|
|
f 128 129 108
|
|
f 129 107 108
|
|
f 129 117 107
|
|
f 117 87 107
|
|
f 117 119 87
|
|
f 119 86 87
|
|
f 119 120 86
|
|
f 120 67 86
|
|
f 120 68 67
|
|
f 62 76 61
|
|
f 62 116 76
|
|
f 116 77 76
|
|
f 116 121 77
|
|
f 121 71 77
|
|
f 121 122 71
|
|
f 122 70 71
|
|
f 122 123 70
|
|
f 123 69 70
|
|
f 123 124 69
|
|
f 124 75 69
|
|
f 124 125 75
|
|
f 125 74 75
|
|
f 125 126 74
|
|
f 126 73 74
|
|
f 126 112 73
|
|
f 112 66 73
|
|
f 112 65 66
|
|
f 17 100 16
|
|
f 17 130 100
|
|
f 130 89 100
|
|
f 130 131 89
|
|
f 131 88 89
|
|
f 131 132 88
|
|
f 132 104 88
|
|
f 132 133 104
|
|
f 133 98 104
|
|
f 133 136 98
|
|
f 136 97 98
|
|
f 136 137 97
|
|
f 137 95 97
|
|
f 137 138 95
|
|
f 138 111 95
|
|
f 138 142 111
|
|
f 142 110 111
|
|
f 142 143 110
|
|
f 143 105 110
|
|
f 143 145 105
|
|
f 145 106 105
|
|
f 145 147 106
|
|
f 147 96 106
|
|
f 147 146 96
|
|
f 146 99 96
|
|
f 146 144 99
|
|
f 144 26 99
|
|
f 144 28 26
|
|
f 58 94 57
|
|
f 58 154 94
|
|
f 154 93 94
|
|
f 154 152 93
|
|
f 152 92 93
|
|
f 152 149 92
|
|
f 149 91 92
|
|
f 149 148 91
|
|
f 148 90 91
|
|
f 148 150 90
|
|
f 150 84 90
|
|
f 150 151 84
|
|
f 151 85 84
|
|
f 151 153 85
|
|
f 153 83 85
|
|
f 153 155 83
|
|
f 155 82 83
|
|
f 155 156 82
|
|
f 156 81 82
|
|
f 156 139 81
|
|
f 139 80 81
|
|
f 139 140 80
|
|
f 140 79 80
|
|
f 140 141 79
|
|
f 141 78 79
|
|
f 141 135 78
|
|
f 135 72 78
|
|
f 135 134 72
|
|
f 134 59 72
|
|
f 134 60 59
|
|
f 157 158 1
|
|
f 157 159 158
|
|
f 159 160 158
|
|
f 159 161 160
|
|
f 161 162 160
|
|
f 161 163 162
|
|
f 163 164 162
|
|
f 163 165 164
|
|
f 165 166 164
|
|
f 165 167 166
|
|
f 167 168 166
|
|
f 167 169 168
|
|
f 169 170 168
|
|
f 169 171 170
|
|
f 171 172 170
|
|
f 171 173 172
|
|
f 173 174 172
|
|
f 173 175 174
|
|
f 175 176 174
|
|
f 175 177 176
|
|
f 177 178 176
|
|
f 177 179 178
|
|
f 179 180 178
|
|
f 179 181 180
|
|
f 181 182 180
|
|
f 181 183 182
|
|
f 183 184 182
|
|
f 183 185 184
|
|
f 186 187 185
|
|
f 187 184 185
|
|
f 186 188 187
|
|
f 186 189 188
|
|
f 189 190 188
|
|
f 189 191 190
|
|
f 191 192 190
|
|
f 191 193 192
|
|
f 193 194 192
|
|
f 193 195 194
|
|
f 195 196 194
|
|
f 195 197 196
|
|
f 197 198 196
|
|
f 197 199 198
|
|
f 199 200 198
|
|
f 199 201 200
|
|
f 201 202 200
|
|
f 201 203 202
|
|
f 203 204 202
|
|
f 203 205 204
|
|
f 205 206 204
|
|
f 205 207 206
|
|
f 207 208 206
|
|
f 207 209 208
|
|
f 210 62 209
|
|
f 62 208 209
|
|
f 210 211 62
|
|
f 210 212 211
|
|
f 212 213 211
|
|
f 212 214 213
|
|
f 214 215 213
|
|
f 214 216 215
|
|
f 216 217 215
|
|
f 216 218 217
|
|
f 218 219 217
|
|
f 218 220 219
|
|
f 220 221 219
|
|
f 220 222 221
|
|
f 222 223 221
|
|
f 222 224 223
|
|
f 224 225 223
|
|
f 224 226 225
|
|
f 226 65 225
|
|
f 226 227 65
|
|
f 228 63 227
|
|
f 63 65 227
|
|
f 228 229 63
|
|
f 228 230 229
|
|
f 230 231 229
|
|
f 230 232 231
|
|
f 232 233 231
|
|
f 232 234 233
|
|
f 234 235 233
|
|
f 234 236 235
|
|
f 236 237 235
|
|
f 236 238 237
|
|
f 238 239 237
|
|
f 238 240 239
|
|
f 240 241 239
|
|
f 240 242 241
|
|
f 242 243 241
|
|
f 242 244 243
|
|
f 244 68 243
|
|
f 244 245 68
|
|
f 157 1 245
|
|
f 1 68 245
|
|
f 157 209 159
|
|
f 157 245 209
|
|
f 159 209 161
|
|
f 209 163 161
|
|
f 209 165 163
|
|
f 165 209 185
|
|
f 209 186 185
|
|
f 209 207 186
|
|
f 227 226 210
|
|
f 226 212 210
|
|
f 242 228 244
|
|
f 228 245 244
|
|
f 228 227 245
|
|
f 227 209 245
|
|
f 227 210 209
|
|
f 167 175 169
|
|
f 175 171 169
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f 1130 1122 1123
|
|
f 1128 1130 1127
|
|
f 1130 1126 1127
|
|
f 1130 1125 1126
|
|
f 1095 1130 1094
|
|
f 1130 1129 1094
|
|
f 1130 1128 1129
|
|
f 1098 1130 1097
|
|
f 1130 1096 1097
|
|
f 1130 1095 1096
|
|
f 1101 1130 1100
|
|
f 1130 1099 1100
|
|
f 1130 1098 1099
|
|
f 1104 1130 1103
|
|
f 1130 1102 1103
|
|
f 1130 1101 1102
|
|
f 1107 1130 1106
|
|
f 1130 1105 1106
|
|
f 1130 1104 1105
|
|
f 1110 1130 1109
|
|
f 1130 1108 1109
|
|
f 1130 1107 1108
|