Publish browseable SimCode4D runtime files
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/runtime/artifacts/IND-01-vacuum-living-room/runtime_model.xml +89 -0
- data/runtime/artifacts/IND-02-go2-living-room/go2_robot.xml +192 -0
- data/runtime/artifacts/IND-02-go2-living-room/runtime_model.xml +76 -0
- data/runtime/artifacts/IND-03-vacuum-west/runtime_model.xml +67 -0
- data/runtime/artifacts/INS-01-agv-aisle/runtime_model.xml +247 -0
- data/runtime/artifacts/INS-02-agv-cargo/runtime_model.xml +129 -0
- data/runtime/artifacts/INS-03-weld/runtime_model.xml +164 -0
- data/runtime/artifacts/NAT-01-rock-kick/go2_runtime.xml +185 -0
- data/runtime/artifacts/NAT-01-rock-kick/m1_world.xml +0 -0
- data/runtime/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml +85 -0
- data/runtime/artifacts/NAT-02-hills-turn-stop/m1_world.xml +0 -0
- data/runtime/artifacts/NAT-03-water-land/m1_world.xml +0 -0
- data/runtime/artifacts/SER-01-medicine/m1_world.xml +94 -0
- data/runtime/artifacts/SER-02-airport-luggage/m1_world.xml +111 -0
- data/runtime/artifacts/SER-03-hotel-drawer/m1_world.xml +84 -0
- data/runtime/artifacts/URB-01-agv-city/runtime_model.xml +132 -0
- data/runtime/artifacts/URB-02-intersection/runtime_model.xml +254 -0
- data/runtime/artifacts/URB-03-pole-blocking/runtime_model.xml +229 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_00.obj +334 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_01.obj +1309 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_02.obj +802 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_03.obj +538 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_04.obj +1303 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_05.obj +235 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_06.obj +1279 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_07.obj +196 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_08.obj +871 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_09.obj +145 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_10.obj +361 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_11.obj +373 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_12.obj +991 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_13.obj +451 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_14.obj +358 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_15.obj +274 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_16.obj +202 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_17.obj +133 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_18.obj +103 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_19.obj +22 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_20.obj +283 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_21.obj +397 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_22.obj +115 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_23.obj +130 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_00.obj +187 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_01.obj +709 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_02.obj +145 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_03.obj +193 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_04.obj +28 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_05.obj +73 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_06.obj +256 -0
- data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_07.obj +196 -0
data/runtime/artifacts/IND-01-vacuum-living-room/runtime_model.xml
ADDED
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| 1 |
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<?xml version='1.0' encoding='utf-8'?>
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<mujoco model="scene_enriched">
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<compiler angle="radian" autolimits="true" />
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<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
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<visual>
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<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
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| 7 |
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<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
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</visual>
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<asset>
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</asset>
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| 12 |
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<worldbody>
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<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
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| 14 |
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<geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 15 |
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<geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 16 |
+
<geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 17 |
+
<geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 18 |
+
<geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
+
<geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 20 |
+
<geom name="wall_03" type="box" pos="3.750000 1.500000 2.847848" size="3.115343 3.365343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 21 |
+
<geom name="wall_06" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
+
<geom name="wall_07" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
+
<geom name="wall_08" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
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<geom name="wall_09" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
+
<geom name="wall_10" type="box" pos="1.508270 7.784414 2.803499" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
+
<geom name="wall_11" type="box" pos="7.864501 7.822870 2.803533" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 27 |
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<geom name="wall_12" type="box" pos="8.858983 6.494686 2.803618" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
+
<geom name="wall_13" type="box" pos="10.484507 3.336327 2.803633" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
+
<geom name="wall_14" type="box" pos="8.000000 11.750000 2.841525" size="2.865343 2.615343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
+
<geom name="wall_20" type="box" pos="2.500000 12.000000 2.841525" size="2.365343 2.865343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
+
<geom name="wall_27" type="box" pos="6.000014 4.500028 2.841511" size="5.865357 4.365371 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
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<geom name="wall_46" type="box" pos="0.200246 12.606551 1.612692" size="0.113633 1.724704 0.577052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
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<geom name="wall_47" type="box" pos="10.268782 0.221279 1.612692" size="1.032094 0.123587 0.567085" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
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<geom name="wall_48" type="box" pos="11.504667 8.865343 1.612692" size="0.310587 0.048224 0.566347" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
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<geom name="wall_49" type="box" pos="-0.134657 6.616748 1.612692" size="0.047080 0.554498 0.578489" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
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<geom name="wall_50" type="box" pos="10.865343 12.017402 1.612692" size="0.051632 0.980857 0.580569" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
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<geom name="wall_51" type="box" pos="8.657573 14.301145 1.612692" size="1.115823 0.093839 0.571772" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
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<geom name="wall_52" type="box" pos="1.779625 14.865343 1.612692" size="1.255290 0.036613 0.579883" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
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<geom name="wall_53" type="box" pos="0.719665 0.973875 1.612692" size="0.098047 0.347702 0.564146" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
+
<geom name="wall_55" type="box" pos="8.145028 -2.365343 1.612692" size="0.539432 0.038521 0.575122" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
+
<geom name="wall_56" type="box" pos="8.865343 -1.584380 1.612692" size="0.044263 0.675119 0.583133" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
+
<geom name="wall_59" type="box" pos="3.468543 -1.779490 1.612692" size="0.366064 0.095106 0.565052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
+
<geom name="wall_60" type="box" pos="5.448463 -1.865343 1.612692" size="1.010812 0.045593 0.569298" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
+
<geom name="wall_61" type="box" pos="0.634657 3.379360 1.612692" size="0.049008 0.447093 0.570971" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
+
<geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
+
<geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
+
<geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
+
<geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
+
<geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 50 |
+
<geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 51 |
+
<geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
+
<geom name="prop_concave_large_007_NatureShelfTrinketsFactory(2360152)_spawn_asset(6010769)" type="box" pos="11.671710 3.321193 1.078800" size="0.074880 0.022258 0.040052" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
+
<geom name="prop_concave_large_008_NatureShelfTrinketsFactory(2993447)_spawn_asset(8887566)" type="box" pos="11.594666 1.845038 0.715467" size="0.017762 0.056553 0.065661" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
+
<geom name="prop_concave_large_009_NatureShelfTrinketsFactory(5228049)_spawn_asset(7578459)" type="box" pos="9.648227 8.685778 1.902127" size="0.057532 0.044511 0.059137" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 55 |
+
<geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 56 |
+
<geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 57 |
+
<geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 58 |
+
<geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 59 |
+
<geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 60 |
+
<geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 61 |
+
<geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 62 |
+
<geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
+
<geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
+
<geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
+
<geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
+
<geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
+
<geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
+
<geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
+
<geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
+
<geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 71 |
+
<body name="robot" pos="8.5 5.5 0.16">
|
| 72 |
+
<freejoint name="robot_freejoint" />
|
| 73 |
+
<geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 74 |
+
<geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.75 0.76 0.78 1" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 75 |
+
<geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" contype="0" conaffinity="0" />
|
| 76 |
+
</body>
|
| 77 |
+
</worldbody>
|
| 78 |
+
<actuator>
|
| 79 |
+
<motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 80 |
+
<motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 81 |
+
<motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
|
| 82 |
+
<motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 83 |
+
<motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 84 |
+
<motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
|
| 85 |
+
</actuator>
|
| 86 |
+
<keyframe>
|
| 87 |
+
<key name="m2_init" qpos="8.5 5.5 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
|
| 88 |
+
</keyframe>
|
| 89 |
+
</mujoco>
|
data/runtime/artifacts/IND-02-go2-living-room/go2_robot.xml
ADDED
|
@@ -0,0 +1,192 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="go2">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option cone="elliptic" impratio="100" timestep="0.001" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" />
|
| 5 |
+
<default>
|
| 6 |
+
<default class="go2">
|
| 7 |
+
<geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 8 |
+
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 9 |
+
<motor ctrlrange="-23.7 23.7" />
|
| 10 |
+
<default class="abduction">
|
| 11 |
+
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 12 |
+
</default>
|
| 13 |
+
<default class="hip">
|
| 14 |
+
<default class="front_hip">
|
| 15 |
+
<joint range="-1.5708 3.4907" />
|
| 16 |
+
</default>
|
| 17 |
+
<default class="back_hip">
|
| 18 |
+
<joint range="-0.5236 4.5379" />
|
| 19 |
+
</default>
|
| 20 |
+
</default>
|
| 21 |
+
<default class="knee">
|
| 22 |
+
<joint range="-2.7227 -0.83776" />
|
| 23 |
+
<motor ctrlrange="-45.43 45.43" />
|
| 24 |
+
</default>
|
| 25 |
+
<default class="visual">
|
| 26 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 27 |
+
</default>
|
| 28 |
+
<default class="collision">
|
| 29 |
+
<geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
+
<default class="foot">
|
| 31 |
+
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" />
|
| 32 |
+
</default>
|
| 33 |
+
</default>
|
| 34 |
+
</default>
|
| 35 |
+
</default>
|
| 36 |
+
<asset>
|
| 37 |
+
<material name="metal" rgba=".9 .95 .95 1" />
|
| 38 |
+
<material name="black" rgba="0 0 0 1" />
|
| 39 |
+
<material name="white" rgba="1 1 1 1" />
|
| 40 |
+
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
| 41 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
|
| 42 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 43 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
|
| 44 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 45 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 46 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 47 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 48 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 49 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 50 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 51 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
|
| 52 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 53 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 54 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 55 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
| 56 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
|
| 57 |
+
</asset>
|
| 58 |
+
<worldbody>
|
| 59 |
+
<body name="base" pos="0 0 0.445" childclass="go2">
|
| 60 |
+
<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921" diaginertia="0.107027 0.0980771 0.0244531" />
|
| 61 |
+
<freejoint name="go2_freejoint" />
|
| 62 |
+
<geom mesh="base_0" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
+
<geom mesh="base_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
+
<geom mesh="base_2" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
+
<geom mesh="base_3" material="white" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
+
<geom mesh="base_4" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
+
<geom size="0.1881 0.04675 0.057" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
+
<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
+
<geom size="0.047" pos="0.293 0 -0.06" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
+
<site name="imu" pos="-0.02557 0 0.04232" />
|
| 71 |
+
<body name="FL_hip" pos="0.1934 0.0465 0">
|
| 72 |
+
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 73 |
+
<joint name="FL_hip_joint" class="abduction" />
|
| 74 |
+
<geom mesh="hip_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 75 |
+
<geom mesh="hip_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 76 |
+
<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 77 |
+
<body name="FL_thigh" pos="0 0.0955 0">
|
| 78 |
+
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 79 |
+
<joint name="FL_thigh_joint" class="front_hip" />
|
| 80 |
+
<geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 81 |
+
<geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 82 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 83 |
+
<body name="FL_calf" pos="0 0 -0.213">
|
| 84 |
+
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 85 |
+
<joint name="FL_calf_joint" class="knee" />
|
| 86 |
+
<geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 87 |
+
<geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 88 |
+
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 89 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 90 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 91 |
+
<geom name="FL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 92 |
+
</body>
|
| 93 |
+
</body>
|
| 94 |
+
</body>
|
| 95 |
+
<body name="FR_hip" pos="0.1934 -0.0465 0">
|
| 96 |
+
<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 97 |
+
<joint name="FR_hip_joint" class="abduction" />
|
| 98 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 99 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 100 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 101 |
+
<body name="FR_thigh" pos="0 -0.0955 0">
|
| 102 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 103 |
+
<joint name="FR_thigh_joint" class="front_hip" />
|
| 104 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 105 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 106 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 107 |
+
<body name="FR_calf" pos="0 0 -0.213">
|
| 108 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 109 |
+
<joint name="FR_calf_joint" class="knee" />
|
| 110 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 111 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 112 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 113 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 114 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 115 |
+
<geom name="FR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
| 120 |
+
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 121 |
+
<joint name="RL_hip_joint" class="abduction" />
|
| 122 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 123 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 124 |
+
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 125 |
+
<body name="RL_thigh" pos="0 0.0955 0">
|
| 126 |
+
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 127 |
+
<joint name="RL_thigh_joint" class="back_hip" />
|
| 128 |
+
<geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 129 |
+
<geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 130 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 131 |
+
<body name="RL_calf" pos="0 0 -0.213">
|
| 132 |
+
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 133 |
+
<joint name="RL_calf_joint" class="knee" />
|
| 134 |
+
<geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 135 |
+
<geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 136 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 137 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 138 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 139 |
+
<geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 140 |
+
</body>
|
| 141 |
+
</body>
|
| 142 |
+
</body>
|
| 143 |
+
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
| 144 |
+
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 145 |
+
<joint name="RR_hip_joint" class="abduction" />
|
| 146 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 147 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 148 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 149 |
+
<body name="RR_thigh" pos="0 -0.0955 0">
|
| 150 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 151 |
+
<joint name="RR_thigh_joint" class="back_hip" />
|
| 152 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 153 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 154 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
+
<body name="RR_calf" pos="0 0 -0.213">
|
| 156 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 157 |
+
<joint name="RR_calf_joint" class="knee" />
|
| 158 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 159 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 162 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 163 |
+
<geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 164 |
+
</body>
|
| 165 |
+
</body>
|
| 166 |
+
</body>
|
| 167 |
+
</body>
|
| 168 |
+
</worldbody>
|
| 169 |
+
<actuator>
|
| 170 |
+
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 171 |
+
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 172 |
+
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 173 |
+
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 174 |
+
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 175 |
+
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 176 |
+
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 177 |
+
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 178 |
+
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 179 |
+
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 180 |
+
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 181 |
+
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 182 |
+
<motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 183 |
+
<motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 184 |
+
<motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" />
|
| 185 |
+
<motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 186 |
+
<motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 187 |
+
<motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" />
|
| 188 |
+
</actuator>
|
| 189 |
+
<keyframe>
|
| 190 |
+
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
|
| 191 |
+
</keyframe>
|
| 192 |
+
</mujoco>
|
data/runtime/artifacts/IND-02-go2-living-room/runtime_model.xml
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
|
| 11 |
+
</asset>
|
| 12 |
+
<worldbody>
|
| 13 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 14 |
+
<geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 15 |
+
<geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 16 |
+
<geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 17 |
+
<geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 18 |
+
<geom name="floor_04" type="box" pos="6.067328 4.567328 0.134671" size="5.932672 4.432672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
+
<geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
+
<geom name="wall_03" type="box" pos="3.750000 1.500000 2.847848" size="3.115343 3.365343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 21 |
+
<geom name="wall_06" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
+
<geom name="wall_07" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
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<geom name="wall_08" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
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<geom name="wall_09" type="box" pos="0.000000 0.000000 -0.037991" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
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<geom name="wall_10" type="box" pos="1.508270 7.784414 2.803499" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
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|
| 27 |
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<geom name="wall_12" type="box" pos="8.858983 6.494686 2.803618" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
+
<geom name="wall_13" type="box" pos="10.484507 3.336327 2.803633" size="0.207192 0.207192 0.037991" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
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<geom name="wall_14" type="box" pos="8.000000 11.750000 2.841525" size="2.865343 2.615343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
+
<geom name="wall_20" type="box" pos="2.500000 12.000000 2.841525" size="2.365343 2.865343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
+
<geom name="wall_27" type="box" pos="6.000014 4.500028 2.841511" size="5.865357 4.365371 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
+
<geom name="wall_46" type="box" pos="0.200246 12.606551 1.612692" size="0.113633 1.724704 0.577052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
+
<geom name="wall_47" type="box" pos="10.268782 0.221279 1.612692" size="1.032094 0.123587 0.567085" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
+
<geom name="wall_48" type="box" pos="11.504667 8.865343 1.612692" size="0.310587 0.048224 0.566347" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
+
<geom name="wall_49" type="box" pos="-0.134657 6.616748 1.612692" size="0.047080 0.554498 0.578489" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
+
<geom name="wall_50" type="box" pos="10.865343 12.017402 1.612692" size="0.051632 0.980857 0.580569" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
+
<geom name="wall_51" type="box" pos="8.657573 14.301145 1.612692" size="1.115823 0.093839 0.571772" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
+
<geom name="wall_52" type="box" pos="1.779625 14.865343 1.612692" size="1.255290 0.036613 0.579883" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
+
<geom name="wall_53" type="box" pos="0.719665 0.973875 1.612692" size="0.098047 0.347702 0.564146" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
+
<geom name="wall_55" type="box" pos="8.145028 -2.365343 1.612692" size="0.539432 0.038521 0.575122" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
+
<geom name="wall_56" type="box" pos="8.865343 -1.584380 1.612692" size="0.044263 0.675119 0.583133" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
+
<geom name="wall_59" type="box" pos="3.468543 -1.779490 1.612692" size="0.366064 0.095106 0.565052" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
+
<geom name="wall_60" type="box" pos="5.448463 -1.865343 1.612692" size="1.010812 0.045593 0.569298" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
+
<geom name="wall_61" type="box" pos="0.634657 3.379360 1.612692" size="0.049008 0.447093 0.570971" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
+
<geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
+
<geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
+
<geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
+
<geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
+
<geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 50 |
+
<geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 51 |
+
<geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
+
<geom name="prop_concave_large_007_NatureShelfTrinketsFactory(2360152)_spawn_asset(6010769)" type="box" pos="11.671710 3.321193 1.078800" size="0.074880 0.022258 0.040052" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
+
<geom name="prop_concave_large_008_NatureShelfTrinketsFactory(2993447)_spawn_asset(8887566)" type="box" pos="11.594666 1.845038 0.715467" size="0.017762 0.056553 0.065661" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
+
<geom name="prop_concave_large_009_NatureShelfTrinketsFactory(5228049)_spawn_asset(7578459)" type="box" pos="9.648227 8.685778 1.902127" size="0.057532 0.044511 0.059137" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 55 |
+
<geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 56 |
+
<geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 57 |
+
<geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 58 |
+
<geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 59 |
+
<geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 60 |
+
<geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 61 |
+
<geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 62 |
+
<geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
+
<geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
+
<geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
+
<geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
+
<geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
+
<geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
+
<geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
+
<geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
+
<geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 71 |
+
</worldbody>
|
| 72 |
+
<include file="go2_robot.xml" />
|
| 73 |
+
<keyframe>
|
| 74 |
+
<key name="m2_init" qpos="2.5 6.3 0.435 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 75 |
+
</keyframe>
|
| 76 |
+
</mujoco>
|
data/runtime/artifacts/IND-03-vacuum-west/runtime_model.xml
ADDED
|
@@ -0,0 +1,67 @@
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|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
|
| 11 |
+
</asset>
|
| 12 |
+
<worldbody>
|
| 13 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 14 |
+
<geom name="floor_00" type="box" pos="7.750000 3.574207 0.148413" size="1.101587 1.425793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 15 |
+
<geom name="floor_01" type="box" pos="12.250000 2.824207 0.140551" size="3.101587 3.175793 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 16 |
+
<geom name="floor_02" type="box" pos="9.500000 11.000000 0.148402" size="2.000000 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 17 |
+
<geom name="floor_03" type="box" pos="4.324207 11.000000 0.148402" size="3.175793 2.351587 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 18 |
+
<geom name="floor_04" type="box" pos="9.324207 9.175794 0.145185" size="5.675793 4.175794 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
+
<geom name="wall_00" type="box" pos="7.750000 3.500000 2.776957" size="1.101587 1.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
+
<geom name="wall_03" type="box" pos="12.250000 2.750000 2.784819" size="3.101587 3.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 21 |
+
<geom name="wall_06" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
+
<geom name="wall_07" type="box" pos="0.000000 0.000000 -0.039925" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
+
<geom name="wall_08" type="box" pos="6.954263 4.282712 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
+
<geom name="wall_09" type="box" pos="7.915145 2.747007 2.737032" size="0.160864 0.160864 0.039925" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
+
<geom name="wall_10" type="box" pos="9.500000 11.000000 2.776968" size="1.851587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
+
<geom name="wall_16" type="box" pos="4.250000 11.000000 2.776968" size="3.101587 2.351587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 27 |
+
<geom name="wall_20" type="box" pos="9.250000 9.250000 2.780185" size="5.601587 4.101587 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
+
<geom name="wall_43" type="box" pos="2.189788 8.714774 1.492194" size="0.994565 0.116563 0.529545" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
+
<geom name="wall_44" type="box" pos="4.346774 13.351587 1.492194" size="0.558063 0.051717 0.527254" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
+
<geom name="wall_45" type="box" pos="3.648413 12.730551 1.492194" size="0.052367 0.497273 0.520375" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
+
<geom name="wall_46" type="box" pos="2.162191 11.291154 1.492194" size="0.507483 0.099226 0.532248" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
+
<geom name="wall_47" type="box" pos="1.148413 10.002422 1.492194" size="0.057953 1.277529 0.532302" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
+
<geom name="wall_48" type="box" pos="13.535239 13.351587 1.492194" size="0.791399 0.058238 0.524367" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
+
<geom name="wall_49" type="box" pos="3.351587 7.978843 1.492194" size="0.048630 0.321001 0.517296" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
+
<geom name="wall_50" type="box" pos="9.564028 13.351587 1.492194" size="0.991946 0.050452 0.534947" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
+
<geom name="wall_51" type="box" pos="8.179374 2.148413 1.492194" size="0.534065 0.038233 0.528951" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
+
<geom name="wall_52" type="box" pos="6.710470 3.282030 1.492194" size="0.092335 0.606077 0.528420" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
+
<geom name="wall_53" type="box" pos="10.313417 -0.351587 1.492194" size="0.799551 0.045037 0.521486" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
+
<geom name="wall_58" type="box" pos="15.351587 4.338172 1.492194" size="0.038160 1.137850 0.528902" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
+
<geom name="wall_59" type="box" pos="9.148413 0.912998 1.492194" size="0.057174 0.631328 0.523344" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
+
<geom name="prop_concave_large_000_CellShelfFactory(553940)_spawn_asset(1582230)" type="box" pos="8.781588 3.708113 0.148413" size="0.216480 0.592551 0.775801" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
+
<geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
+
<geom name="prop_concave_large_002_LargeShelfFactory(847080)_spawn_asset(5034982)" type="box" pos="8.619232 2.865427 0.148413" size="0.158355 0.168051 0.959519" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
+
<geom name="prop_concave_large_003_MirrorFactory(2662507)_spawn_asset(2274093)" type="box" pos="8.841587 3.786969 2.061996" size="0.007990 0.256776 0.299212" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
+
<geom name="prop_concave_large_004_NatureShelfTrinketsFactory(321562)_spawn_asset(3131955)" type="box" pos="8.561434 2.853782 0.681814" size="0.069747 0.064521 0.061916" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
+
<geom name="prop_concave_large_005_NatureShelfTrinketsFactory(4213378)_spawn_asset(8334249)" type="box" pos="8.548280 2.850620 1.774693" size="0.072589 0.068014 0.070088" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
+
<geom name="prop_concave_large_006_NatureShelfTrinketsFactory(9699418)_spawn_asset(1239099)" type="box" pos="8.703764 2.832126 1.767840" size="0.050332 0.065736 0.050798" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
+
<geom name="prop_concave_large_007_SingleCabinetFactory(224372)_spawn_asset(6792200)" type="box" pos="6.878554 4.582326 0.148413" size="0.160474 0.204718 0.741438" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
+
<body name="robot" pos="5.0 9.0 0.16">
|
| 50 |
+
<freejoint name="robot_freejoint" />
|
| 51 |
+
<geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
+
<geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.14 0.14 0.16 1" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
+
<geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
+
</body>
|
| 55 |
+
</worldbody>
|
| 56 |
+
<actuator>
|
| 57 |
+
<motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 58 |
+
<motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
|
| 59 |
+
<motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
|
| 60 |
+
<motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 61 |
+
<motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
|
| 62 |
+
<motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
|
| 63 |
+
</actuator>
|
| 64 |
+
<keyframe>
|
| 65 |
+
<key name="m2_init" qpos="5 9.15 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
|
| 66 |
+
</keyframe>
|
| 67 |
+
</mujoco>
|
data/runtime/artifacts/INS-01-agv-aisle/runtime_model.xml
ADDED
|
@@ -0,0 +1,247 @@
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
<mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
|
| 11 |
+
<mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
|
| 12 |
+
<material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
|
| 13 |
+
<material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
|
| 14 |
+
<material name="rover_detail" rgba="0.80 0.60 0.10 1" />
|
| 15 |
+
</asset>
|
| 16 |
+
<worldbody>
|
| 17 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 18 |
+
<geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 13.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 19 |
+
<geom name="wall_00" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 13.000000 0.075000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 20 |
+
<geom name="prop_convex_small_000_barrel_0" type="box" pos="7.600000 -2.400000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 21 |
+
<geom name="prop_convex_small_001_barrel_1" type="box" pos="7.600000 -3.000000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 22 |
+
<geom name="prop_convex_small_002_barrel_2" type="box" pos="8.150000 -2.700000 0.425000" size="0.260000 0.260000 0.425000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 23 |
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| 154 |
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<geom name="prop_convex_small_134_pallet_5_2" type="box" pos="5.200000 -2.900000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
+
<geom name="prop_convex_small_135_pk_body" type="box" pos="-0.900000 2.550000 0.290000" size="0.460000 0.290000 0.090000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 156 |
+
<geom name="prop_convex_small_136_pk_deck" type="box" pos="-0.900000 2.550000 0.392500" size="0.430000 0.260000 0.012500" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 157 |
+
<geom name="prop_convex_small_137_pk_skirt" type="box" pos="-0.900000 2.550000 0.160000" size="0.470000 0.300000 0.040000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 158 |
+
<geom name="prop_convex_small_138_pk_wheel_-1_-1" type="box" pos="-1.200000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 159 |
+
<geom name="prop_convex_small_139_pk_wheel_-1_1" type="box" pos="-1.200000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
+
<geom name="prop_convex_small_140_pk_wheel_1_-1" type="box" pos="-0.600000 2.310000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
+
<geom name="prop_convex_small_141_pk_wheel_1_1" type="box" pos="-0.600000 2.790000 0.096000" size="0.100000 0.035000 0.100000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 162 |
+
<geom name="prop_convex_small_142_post_-2_0_-1" type="box" pos="9.000000 -2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 163 |
+
<geom name="prop_convex_small_143_post_-2_0_1" type="box" pos="9.000000 -1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 164 |
+
<geom name="prop_convex_small_144_post_-4_6_-1" type="box" pos="9.000000 -5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 165 |
+
<geom name="prop_convex_small_145_post_-4_6_1" type="box" pos="9.000000 -4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 166 |
+
<geom name="prop_convex_small_146_post_2_0_-1" type="box" pos="9.000000 1.550000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 167 |
+
<geom name="prop_convex_small_147_post_2_0_1" type="box" pos="9.000000 2.450000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 168 |
+
<geom name="prop_convex_small_148_post_4_6_-1" type="box" pos="9.000000 4.150000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 169 |
+
<geom name="prop_convex_small_149_post_4_6_1" type="box" pos="9.000000 5.050000 1.500000" size="0.170000 0.040000 1.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 170 |
+
<geom name="prop_convex_small_150_qbox1_0" type="box" pos="10.600000 -2.300000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 171 |
+
<geom name="prop_convex_small_151_qbox1_1" type="box" pos="12.400000 -3.000000 0.370000" size="0.330000 0.300000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 172 |
+
<geom name="prop_convex_small_152_qbox2_0" type="box" pos="10.630000 -2.330000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 173 |
+
<geom name="prop_convex_small_153_qbox2_1" type="box" pos="12.430000 -3.030000 0.800000" size="0.250000 0.225000 0.180000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 174 |
+
<geom name="prop_convex_small_154_qpal_0" type="box" pos="10.600000 -2.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 175 |
+
<geom name="prop_convex_small_155_qpal_1" type="box" pos="12.400000 -3.000000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 176 |
+
<geom name="prop_convex_small_156_rbox_-2_0_0_55" type="box" pos="9.000000 -2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 177 |
+
<geom name="prop_convex_small_157_rbox_-2_0_1_55" type="box" pos="9.000000 -2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 178 |
+
<geom name="prop_convex_small_158_rbox_-2_0_2_55" type="box" pos="9.000000 -2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 179 |
+
<geom name="prop_convex_small_159_rbox_-4_6_0_55" type="box" pos="9.000000 -4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 180 |
+
<geom name="prop_convex_small_160_rbox_-4_6_1_55" type="box" pos="9.000000 -4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 181 |
+
<geom name="prop_convex_small_161_rbox_-4_6_2_55" type="box" pos="9.000000 -4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 182 |
+
<geom name="prop_convex_small_162_rbox_2_0_0_55" type="box" pos="9.000000 2.000000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 183 |
+
<geom name="prop_convex_small_163_rbox_2_0_1_55" type="box" pos="9.000000 2.000000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 184 |
+
<geom name="prop_convex_small_164_rbox_2_0_2_55" type="box" pos="9.000000 2.000000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 185 |
+
<geom name="prop_convex_small_165_rbox_4_6_0_55" type="box" pos="9.000000 4.600000 0.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 186 |
+
<geom name="prop_convex_small_166_rbox_4_6_1_55" type="box" pos="9.000000 4.600000 1.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 187 |
+
<geom name="prop_convex_small_167_rbox_4_6_2_55" type="box" pos="9.000000 4.600000 2.785000" size="0.210000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 188 |
+
<geom name="prop_convex_small_168_wcol_-2" type="box" pos="-2.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 189 |
+
<geom name="prop_convex_small_169_wcol_-8" type="box" pos="-8.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 190 |
+
<geom name="prop_convex_small_170_wcol_14" type="box" pos="14.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 191 |
+
<geom name="prop_convex_small_171_wcol_3" type="box" pos="3.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 192 |
+
<geom name="prop_convex_small_172_wcol_9" type="box" pos="9.000000 -12.050000 2.300000" size="0.300000 0.150000 2.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 193 |
+
<body name="rover_base" pos="0 0 0.22">
|
| 194 |
+
<freejoint name="rover_freejoint" />
|
| 195 |
+
<inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
|
| 196 |
+
<geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 197 |
+
<geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 198 |
+
<body name="rover_fl_wheel" pos=" 0.32 0.27 -0.10">
|
| 199 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 200 |
+
<joint name="fl_wheel_joint" axis="0 1 0" />
|
| 201 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 202 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 203 |
+
</body>
|
| 204 |
+
<body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
|
| 205 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 206 |
+
<joint name="fr_wheel_joint" axis="0 1 0" />
|
| 207 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 208 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 209 |
+
</body>
|
| 210 |
+
<body name="rover_rl_wheel" pos="-0.32 0.27 -0.10">
|
| 211 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 212 |
+
<joint name="rl_wheel_joint" axis="0 1 0" />
|
| 213 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 214 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 215 |
+
</body>
|
| 216 |
+
<body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
|
| 217 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 218 |
+
<joint name="rr_wheel_joint" axis="0 1 0" />
|
| 219 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 220 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 221 |
+
</body>
|
| 222 |
+
</body>
|
| 223 |
+
</worldbody>
|
| 224 |
+
<keyframe>
|
| 225 |
+
<key name="m2_init" qpos="-2 0 0.221 1 0 0 0 0 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 226 |
+
</keyframe>
|
| 227 |
+
<default>
|
| 228 |
+
<default class="rover_visual">
|
| 229 |
+
<geom contype="0" conaffinity="0" group="2" type="mesh" />
|
| 230 |
+
</default>
|
| 231 |
+
<default class="rover_wheel">
|
| 232 |
+
<geom friction="1.4 0.02 0.01" condim="3" type="cylinder" size="0.12 0.03" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 233 |
+
</default>
|
| 234 |
+
</default>
|
| 235 |
+
<actuator>
|
| 236 |
+
<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
|
| 237 |
+
<velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
|
| 238 |
+
<velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
|
| 239 |
+
<velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
|
| 240 |
+
<motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 241 |
+
<motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 242 |
+
<motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
|
| 243 |
+
<motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 244 |
+
<motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 245 |
+
<motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
|
| 246 |
+
</actuator>
|
| 247 |
+
</mujoco>
|
data/runtime/artifacts/INS-02-agv-cargo/runtime_model.xml
ADDED
|
@@ -0,0 +1,129 @@
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| 1 |
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<?xml version='1.0' encoding='utf-8'?>
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| 2 |
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<mujoco model="scene_enriched">
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| 3 |
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<compiler angle="radian" autolimits="true" />
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| 4 |
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<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
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<visual>
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| 6 |
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<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
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<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
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<asset>
|
| 10 |
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<mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
|
| 11 |
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<mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
|
| 12 |
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<material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
|
| 13 |
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<material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
|
| 14 |
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<material name="rover_detail" rgba="0.80 0.60 0.10 1" />
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| 15 |
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</asset>
|
| 16 |
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<worldbody>
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| 17 |
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<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
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| 18 |
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<geom name="floor_00" type="box" pos="4.000000 0.000000 -0.050000" size="17.000000 11.000000 0.050000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_000_c1rib_0" type="box" pos="18.200001 -3.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 20 |
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<geom name="prop_convex_small_001_c1rib_1" type="box" pos="18.200001 -2.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 21 |
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<geom name="prop_convex_small_002_c1rib_2" type="box" pos="18.200001 -2.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_003_c1rib_3" type="box" pos="18.200001 -1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_004_c1rib_4" type="box" pos="18.200001 -0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_005_c1rib_5" type="box" pos="18.200001 0.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_006_c1rib_6" type="box" pos="18.200001 1.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_007_c2rib_0" type="box" pos="18.200001 2.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_008_c2rib_1" type="box" pos="18.200001 3.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_009_c2rib_2" type="box" pos="18.200001 3.800000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_010_c2rib_3" type="box" pos="18.200001 4.600000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_011_c2rib_4" type="box" pos="18.200001 5.400000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_012_c2rib_5" type="box" pos="18.200001 6.200000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_013_c2rib_6" type="box" pos="18.200001 7.000000 1.275000" size="1.170000 0.025000 1.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_014_cont1" type="box" pos="18.200001 -1.200000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_015_cont2" type="box" pos="18.200001 4.600000 1.275000" size="1.150000 2.800000 1.275000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_016_dceiling" type="box" pos="4.000000 0.000000 5.100000" size="17.000000 11.000000 0.075000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_017_dcol_0_0_-5_0" type="box" pos="0.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_018_dcol_11_0_5_8" type="box" pos="11.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_019_dcol_12_0_-5_0" type="box" pos="12.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_020_dcol_3_0_5_8" type="box" pos="3.000000 5.800000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_021_dcol_6_0_-5_0" type="box" pos="6.000000 -5.000000 2.500000" size="0.175000 0.175000 2.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_022_dcolstripe_0_0_-5_0" type="box" pos="0.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_023_dcolstripe_11_0_5_8" type="box" pos="11.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_024_dcolstripe_12_0_-5_0" type="box" pos="12.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_025_dcolstripe_3_0_5_8" type="box" pos="3.000000 5.800000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_026_dcolstripe_6_0_-5_0" type="box" pos="6.000000 -5.000000 0.600000" size="0.185000 0.185000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_027_dcone_0" type="box" pos="4.500000 1.300000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_028_dcone_1" type="box" pos="9.000000 0.900000 0.240000" size="0.100000 0.100000 0.210000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_029_dconebase_0" type="box" pos="4.500000 1.300000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_030_dconebase_1" type="box" pos="9.000000 0.900000 0.015000" size="0.140000 0.140000 0.015000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_031_dendwall" type="box" pos="21.000000 0.000000 2.400000" size="0.150000 11.000000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_032_dwall" type="box" pos="4.000000 -5.400000 2.400000" size="18.000000 0.150000 2.400000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_033_pjack" type="box" pos="6.400000 -2.100000 0.100000" size="0.250000 0.175000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_034_pjack_handle" type="box" pos="6.150000 -2.100000 0.420000" size="0.025000 0.025000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_035_twheel_0" type="box" pos="14.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_036_twheel_1" type="box" pos="15.400000 -2.600000 0.350000" size="0.350000 0.125000 0.350000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_037_wbox1_1" type="box" pos="5.200000 -3.300000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_038_wbox1_3" type="box" pos="2.000000 -2.500000 0.370000" size="0.400000 0.350000 0.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_039_wbox2_1" type="box" pos="5.240000 -3.300000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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<geom name="prop_convex_small_040_wbox2_3" type="box" pos="2.040000 -2.500000 0.820000" size="0.300000 0.275000 0.200000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 60 |
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<geom name="prop_convex_small_041_wpal_0" type="box" pos="-0.300000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 61 |
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<geom name="prop_convex_small_042_wpal_1" type="box" pos="5.200000 -3.300000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 62 |
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<geom name="prop_convex_small_043_wpal_2" type="box" pos="10.400000 -3.200000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 63 |
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<geom name="prop_convex_small_044_wpal_3" type="box" pos="2.000000 -2.500000 0.060000" size="0.500000 0.450000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 64 |
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<geom name="prop_convex_small_045_wrap_0" type="box" pos="-0.300000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 65 |
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<geom name="prop_convex_small_046_wrap_2" type="box" pos="10.400000 -3.200000 0.645000" size="0.425000 0.375000 0.525000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 66 |
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<geom name="prop_convex_small_047_wtop_0" type="box" pos="-0.300000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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| 67 |
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<geom name="prop_convex_small_048_wtop_2" type="box" pos="10.400000 -3.200000 1.220000" size="0.440000 0.390000 0.030000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
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<body name="rover_base" pos="0 0 0.22">
|
| 69 |
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<freejoint name="rover_freejoint" />
|
| 70 |
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<inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
|
| 71 |
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<geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 72 |
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<geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 73 |
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<body name="rover_fl_wheel" pos=" 0.32 0.27 -0.10">
|
| 74 |
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<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 75 |
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<joint name="fl_wheel_joint" axis="0 1 0" />
|
| 76 |
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<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 77 |
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<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 78 |
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</body>
|
| 79 |
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<body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
|
| 80 |
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<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 81 |
+
<joint name="fr_wheel_joint" axis="0 1 0" />
|
| 82 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 83 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 84 |
+
</body>
|
| 85 |
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<body name="rover_rl_wheel" pos="-0.32 0.27 -0.10">
|
| 86 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 87 |
+
<joint name="rl_wheel_joint" axis="0 1 0" />
|
| 88 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 89 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 90 |
+
</body>
|
| 91 |
+
<body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
|
| 92 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 93 |
+
<joint name="rr_wheel_joint" axis="0 1 0" />
|
| 94 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 95 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 96 |
+
</body>
|
| 97 |
+
</body>
|
| 98 |
+
<body name="cargo" pos="0 -2 0.501">
|
| 99 |
+
<freejoint name="cargo_freejoint" />
|
| 100 |
+
<geom name="cargo_box" type="box" size="0.28 0.22 0.16" mass="8" friction="0.8 0.02 0.005" condim="6" rgba="0.55 0.30 0.12 1" />
|
| 101 |
+
</body>
|
| 102 |
+
</worldbody>
|
| 103 |
+
<keyframe>
|
| 104 |
+
<key name="m2_init" qpos="0 -2 0.221 1 0 0 0 0 0 0 0 0 -2 0.501 1 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0 0 0 0 0 0" />
|
| 105 |
+
</keyframe>
|
| 106 |
+
<default>
|
| 107 |
+
<default class="rover_visual">
|
| 108 |
+
<geom contype="0" conaffinity="0" group="2" type="mesh" />
|
| 109 |
+
</default>
|
| 110 |
+
<default class="rover_wheel">
|
| 111 |
+
<geom friction="1.4 0.02 0.01" condim="3" type="cylinder" size="0.12 0.03" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 112 |
+
</default>
|
| 113 |
+
</default>
|
| 114 |
+
<actuator>
|
| 115 |
+
<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
|
| 116 |
+
<velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
|
| 117 |
+
<velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
|
| 118 |
+
<velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
|
| 119 |
+
<motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 120 |
+
<motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 121 |
+
<motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
|
| 122 |
+
<motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 123 |
+
<motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 124 |
+
<motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
|
| 125 |
+
</actuator>
|
| 126 |
+
<equality>
|
| 127 |
+
<weld name="cargo_weld" body1="rover_base" body2="cargo" relpose="0 0 0.28 1 0 0 0" active="true" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 128 |
+
</equality>
|
| 129 |
+
</mujoco>
|
data/runtime/artifacts/INS-03-weld/runtime_model.xml
ADDED
|
@@ -0,0 +1,164 @@
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
<material class="ur5e" name="black" rgba="0.033 0.033 0.033 1" />
|
| 11 |
+
<material class="ur5e" name="jointgray" rgba="0.278 0.278 0.278 1" />
|
| 12 |
+
<material class="ur5e" name="linkgray" rgba="0.82 0.82 0.82 1" />
|
| 13 |
+
<material class="ur5e" name="urblue" rgba="0.49 0.678 0.8 1" />
|
| 14 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_0.obj" />
|
| 15 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/base_1.obj" />
|
| 16 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_0.obj" />
|
| 17 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_1.obj" />
|
| 18 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/shoulder_2.obj" />
|
| 19 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_0.obj" />
|
| 20 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_1.obj" />
|
| 21 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_2.obj" />
|
| 22 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/upperarm_3.obj" />
|
| 23 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_0.obj" />
|
| 24 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_1.obj" />
|
| 25 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_2.obj" />
|
| 26 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/forearm_3.obj" />
|
| 27 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_0.obj" />
|
| 28 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_1.obj" />
|
| 29 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist1_2.obj" />
|
| 30 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_0.obj" />
|
| 31 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_1.obj" />
|
| 32 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist2_2.obj" />
|
| 33 |
+
<mesh file="../../vendor/handover9_20260921/universal_robots_ur5e/assets/wrist3.obj" />
|
| 34 |
+
</asset>
|
| 35 |
+
<worldbody>
|
| 36 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 37 |
+
<geom name="floor_00" type="box" pos="3.000000 3.000000 0.000000" size="3.000000 3.000000 0.100000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 38 |
+
<geom name="floor_01" type="box" pos="1.000000 5.500000 0.010000" size="0.750000 0.500000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 39 |
+
<geom name="floor_02" type="box" pos="3.000000 1.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 40 |
+
<geom name="floor_03" type="box" pos="3.000000 2.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 41 |
+
<geom name="floor_04" type="box" pos="3.000000 2.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 42 |
+
<geom name="floor_05" type="box" pos="3.000000 3.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 43 |
+
<geom name="floor_06" type="box" pos="3.000000 3.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 44 |
+
<geom name="floor_07" type="box" pos="3.000000 4.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 45 |
+
<geom name="floor_08" type="box" pos="3.000000 4.500000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 46 |
+
<geom name="floor_09" type="box" pos="3.000000 5.000000 0.010000" size="2.000000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 47 |
+
<geom name="floor_10" type="box" pos="2.500000 3.000000 0.050000" size="0.030000 1.000000 0.030000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 48 |
+
<geom name="wall_00" type="box" pos="0.000000 0.000000 0.000000" size="3.000000 0.100000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 49 |
+
<geom name="wall_01" type="box" pos="3.000000 3.000000 4.010000" size="0.650000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 50 |
+
<geom name="wall_02" type="box" pos="3.000000 3.000000 3.950000" size="0.750000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 51 |
+
<geom name="wall_03" type="box" pos="1.000000 5.500000 4.010000" size="0.400000 0.100000 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 52 |
+
<geom name="wall_04" type="box" pos="1.000000 5.500000 3.950000" size="0.500000 0.150000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 53 |
+
<geom name="wall_05" type="box" pos="3.000000 3.000000 4.000000" size="3.000000 3.000000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 54 |
+
<geom name="wall_06" type="box" pos="5.500000 3.000000 3.800000" size="3.000000 0.050000 0.050000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 55 |
+
<geom name="wall_07" type="box" pos="0.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 56 |
+
<geom name="wall_08" type="box" pos="6.000000 3.000000 2.000000" size="0.100000 3.000000 2.000000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" />
|
| 57 |
+
<geom name="prop_concave_large_000_control_panel" type="box" pos="1.000000 5.200000 0.700000" size="0.445343 0.445343 0.700000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 58 |
+
<geom name="prop_concave_large_001_fume_extraction_hood" type="box" pos="3.000000 3.800000 2.900000" size="0.600000 0.600000 0.300000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 59 |
+
<geom name="prop_concave_large_002_gas_cylinder_rack" type="box" pos="5.000000 5.200000 0.700000" size="0.400000 0.222500 0.725000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 60 |
+
<geom name="prop_concave_large_003_welding_helmet" type="box" pos="1.200000 5.150000 1.575000" size="0.125000 0.212500 0.125000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 61 |
+
<geom name="prop_concave_large_004_welding_robot_base" type="box" pos="3.000000 2.000000 0.900000" size="0.600000 0.600000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 62 |
+
<geom name="prop_concave_large_005_welding_table" type="box" pos="2.500000 3.500000 0.800000" size="0.800000 0.500000 0.450000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" />
|
| 63 |
+
<body name="ur5e_mount" pos="3.6 3.65 0.445">
|
| 64 |
+
<geom name="ur5e_mount_geom" type="box" size="0.18 0.18 0.445" rgba="0.20 0.22 0.25 1" friction="0.8 0.02 0.005" condim="6" />
|
| 65 |
+
</body>
|
| 66 |
+
<body name="ur5e_base" quat="1 0 0 0" childclass="ur5e" pos="3.6 3.65 0.89">
|
| 67 |
+
<inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
|
| 68 |
+
<geom mesh="base_0" material="black" class="visual" />
|
| 69 |
+
<geom mesh="base_1" material="jointgray" class="visual" />
|
| 70 |
+
<body name="shoulder_link" pos="0 0 0.163">
|
| 71 |
+
<inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
|
| 72 |
+
<joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
|
| 73 |
+
<geom mesh="shoulder_0" material="urblue" class="visual" />
|
| 74 |
+
<geom mesh="shoulder_1" material="black" class="visual" />
|
| 75 |
+
<geom mesh="shoulder_2" material="jointgray" class="visual" />
|
| 76 |
+
<geom class="collision" size="0.06 0.06" pos="0 0 -0.04" />
|
| 77 |
+
<body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
|
| 78 |
+
<inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
|
| 79 |
+
<joint name="shoulder_lift_joint" class="size3" />
|
| 80 |
+
<geom mesh="upperarm_0" material="linkgray" class="visual" />
|
| 81 |
+
<geom mesh="upperarm_1" material="black" class="visual" />
|
| 82 |
+
<geom mesh="upperarm_2" material="jointgray" class="visual" />
|
| 83 |
+
<geom mesh="upperarm_3" material="urblue" class="visual" />
|
| 84 |
+
<geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06" />
|
| 85 |
+
<geom class="collision" size="0.05 0.2" pos="0 0 0.2" />
|
| 86 |
+
<body name="forearm_link" pos="0 -0.131 0.425">
|
| 87 |
+
<inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
|
| 88 |
+
<joint name="elbow_joint" class="size3_limited" />
|
| 89 |
+
<geom mesh="forearm_0" material="urblue" class="visual" />
|
| 90 |
+
<geom mesh="forearm_1" material="linkgray" class="visual" />
|
| 91 |
+
<geom mesh="forearm_2" material="black" class="visual" />
|
| 92 |
+
<geom mesh="forearm_3" material="jointgray" class="visual" />
|
| 93 |
+
<geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.055 0.06" />
|
| 94 |
+
<geom class="collision" size="0.038 0.19" pos="0 0 0.2" />
|
| 95 |
+
<body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
|
| 96 |
+
<inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
|
| 97 |
+
<joint name="wrist_1_joint" class="size1" />
|
| 98 |
+
<geom mesh="wrist1_0" material="black" class="visual" />
|
| 99 |
+
<geom mesh="wrist1_1" material="urblue" class="visual" />
|
| 100 |
+
<geom mesh="wrist1_2" material="jointgray" class="visual" />
|
| 101 |
+
<geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07" />
|
| 102 |
+
<body name="wrist_2_link" pos="0 0.127 0">
|
| 103 |
+
<inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
|
| 104 |
+
<joint name="wrist_2_joint" axis="0 0 1" class="size1" />
|
| 105 |
+
<geom mesh="wrist2_0" material="black" class="visual" />
|
| 106 |
+
<geom mesh="wrist2_1" material="urblue" class="visual" />
|
| 107 |
+
<geom mesh="wrist2_2" material="jointgray" class="visual" />
|
| 108 |
+
<geom class="collision" size="0.04 0.06" pos="0 0 0.04" />
|
| 109 |
+
<geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04" />
|
| 110 |
+
<body name="wrist_3_link" pos="0 0 0.1">
|
| 111 |
+
<inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
|
| 112 |
+
<joint name="wrist_3_joint" class="size1" />
|
| 113 |
+
<geom material="linkgray" mesh="wrist3" class="visual" />
|
| 114 |
+
<geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02" />
|
| 115 |
+
<site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
|
| 116 |
+
<body name="weld_tool_tip" pos="0 0.1 0">
|
| 117 |
+
<geom name="weld_tool_tip_geom" type="sphere" size="0.004" mass="0.02" friction="0.6 0.01 0.002" condim="6" rgba="1 0.35 0.05 1" />
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
</body>
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<default>
|
| 128 |
+
<default class="ur5e">
|
| 129 |
+
<material specular="0.5" shininess="0.25" />
|
| 130 |
+
<joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
|
| 131 |
+
<general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
|
| 132 |
+
<default class="size3">
|
| 133 |
+
<default class="size3_limited">
|
| 134 |
+
<joint range="-3.1415 3.1415" />
|
| 135 |
+
<general ctrlrange="-3.1415 3.1415" />
|
| 136 |
+
</default>
|
| 137 |
+
</default>
|
| 138 |
+
<default class="size1">
|
| 139 |
+
<general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
|
| 140 |
+
</default>
|
| 141 |
+
<default class="visual">
|
| 142 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 143 |
+
</default>
|
| 144 |
+
<default class="collision">
|
| 145 |
+
<geom type="capsule" group="3" />
|
| 146 |
+
<default class="eef_collision">
|
| 147 |
+
<geom type="cylinder" />
|
| 148 |
+
</default>
|
| 149 |
+
</default>
|
| 150 |
+
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
|
| 151 |
+
</default>
|
| 152 |
+
</default>
|
| 153 |
+
<actuator>
|
| 154 |
+
<general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
|
| 155 |
+
<general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
|
| 156 |
+
<general class="size3_limited" name="elbow" joint="elbow_joint" />
|
| 157 |
+
<general class="size1" name="wrist_1" joint="wrist_1_joint" />
|
| 158 |
+
<general class="size1" name="wrist_2" joint="wrist_2_joint" />
|
| 159 |
+
<general class="size1" name="wrist_3" joint="wrist_3_joint" />
|
| 160 |
+
</actuator>
|
| 161 |
+
<keyframe>
|
| 162 |
+
<key name="m2_init" qpos="0 -1.45 1.75 -1.85 -1.57 0" qvel="0 0 0 0 0 0" ctrl="0 -1.45 1.75 -1.85 -1.57 0" />
|
| 163 |
+
</keyframe>
|
| 164 |
+
</mujoco>
|
data/runtime/artifacts/NAT-01-rock-kick/go2_runtime.xml
ADDED
|
@@ -0,0 +1,185 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="go2">
|
| 2 |
+
<compiler angle="radian" autolimits="true" />
|
| 3 |
+
<option cone="elliptic" impratio="100" />
|
| 4 |
+
<default>
|
| 5 |
+
<default class="go2">
|
| 6 |
+
<geom friction="0.6" margin="0.003" condim="1" solref=".002 1" solimp=".995 .9999 .0002" />
|
| 7 |
+
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 8 |
+
<motor ctrlrange="-23.7 23.7" />
|
| 9 |
+
<default class="abduction">
|
| 10 |
+
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 11 |
+
</default>
|
| 12 |
+
<default class="hip">
|
| 13 |
+
<default class="front_hip">
|
| 14 |
+
<joint range="-1.5708 3.4907" />
|
| 15 |
+
</default>
|
| 16 |
+
<default class="back_hip">
|
| 17 |
+
<joint range="-0.5236 4.5379" />
|
| 18 |
+
</default>
|
| 19 |
+
</default>
|
| 20 |
+
<default class="knee">
|
| 21 |
+
<joint range="-2.7227 -0.83776" />
|
| 22 |
+
<motor ctrlrange="-45.43 45.43" />
|
| 23 |
+
</default>
|
| 24 |
+
<default class="visual">
|
| 25 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 26 |
+
</default>
|
| 27 |
+
<default class="collision">
|
| 28 |
+
<geom group="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
+
<default class="foot">
|
| 30 |
+
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp=".995 .9999 .0002" condim="6" friction="0.8 0.02 0.01" solref=".002 1" margin="0.003" />
|
| 31 |
+
</default>
|
| 32 |
+
</default>
|
| 33 |
+
</default>
|
| 34 |
+
</default>
|
| 35 |
+
<asset>
|
| 36 |
+
<material name="metal" rgba=".9 .95 .95 1" />
|
| 37 |
+
<material name="black" rgba="0 0 0 1" />
|
| 38 |
+
<material name="white" rgba="1 1 1 1" />
|
| 39 |
+
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
| 40 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
|
| 41 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 42 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
|
| 43 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 44 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 45 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 46 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 47 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 48 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 49 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 50 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
|
| 51 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 52 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 53 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 54 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
| 55 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
|
| 56 |
+
</asset>
|
| 57 |
+
<worldbody>
|
| 58 |
+
<body name="base" pos="0 0 0.445" childclass="go2">
|
| 59 |
+
<inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921" diaginertia="0.107027 0.0980771 0.0244531" />
|
| 60 |
+
<freejoint />
|
| 61 |
+
<geom mesh="base_0" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 62 |
+
<geom mesh="base_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
+
<geom mesh="base_2" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 64 |
+
<geom mesh="base_3" material="white" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 65 |
+
<geom mesh="base_4" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 66 |
+
<geom size="0.1881 0.04675 0.057" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 67 |
+
<geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 68 |
+
<geom size="0.047" pos="0.293 0 -0.06" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 69 |
+
<site name="imu" pos="-0.02557 0 0.04232" />
|
| 70 |
+
<body name="FL_hip" pos="0.1934 0.0465 0">
|
| 71 |
+
<inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 72 |
+
<joint name="FL_hip_joint" class="abduction" />
|
| 73 |
+
<geom mesh="hip_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 74 |
+
<geom mesh="hip_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 75 |
+
<geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 76 |
+
<body name="FL_thigh" pos="0 0.0955 0">
|
| 77 |
+
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 78 |
+
<joint name="FL_thigh_joint" class="front_hip" />
|
| 79 |
+
<geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 80 |
+
<geom mesh="thigh_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 81 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 82 |
+
<body name="FL_calf" pos="0 0 -0.213">
|
| 83 |
+
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 84 |
+
<joint name="FL_calf_joint" class="knee" />
|
| 85 |
+
<geom mesh="calf_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 86 |
+
<geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 87 |
+
<geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 88 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 89 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 90 |
+
<geom name="FL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 91 |
+
</body>
|
| 92 |
+
</body>
|
| 93 |
+
</body>
|
| 94 |
+
<body name="FR_hip" pos="0.1934 -0.0465 0">
|
| 95 |
+
<inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 96 |
+
<joint name="FR_hip_joint" class="abduction" />
|
| 97 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 98 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 99 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 100 |
+
<body name="FR_thigh" pos="0 -0.0955 0">
|
| 101 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 102 |
+
<joint name="FR_thigh_joint" class="front_hip" />
|
| 103 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 104 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 105 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 106 |
+
<body name="FR_calf" pos="0 0 -0.213">
|
| 107 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 108 |
+
<joint name="FR_calf_joint" class="knee" />
|
| 109 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 110 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 111 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 112 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 113 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 114 |
+
<geom name="FR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
| 119 |
+
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 120 |
+
<joint name="RL_hip_joint" class="abduction" />
|
| 121 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 122 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 123 |
+
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 124 |
+
<body name="RL_thigh" pos="0 0.0955 0">
|
| 125 |
+
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 126 |
+
<joint name="RL_thigh_joint" class="back_hip" />
|
| 127 |
+
<geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 128 |
+
<geom mesh="thigh_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 129 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 130 |
+
<body name="RL_calf" pos="0 0 -0.213">
|
| 131 |
+
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 132 |
+
<joint name="RL_calf_joint" class="knee" />
|
| 133 |
+
<geom mesh="calf_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 134 |
+
<geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 135 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 136 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 137 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 138 |
+
<geom name="RL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 139 |
+
</body>
|
| 140 |
+
</body>
|
| 141 |
+
</body>
|
| 142 |
+
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
| 143 |
+
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 144 |
+
<joint name="RR_hip_joint" class="abduction" />
|
| 145 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 146 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 147 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 148 |
+
<body name="RR_thigh" pos="0 -0.0955 0">
|
| 149 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 150 |
+
<joint name="RR_thigh_joint" class="back_hip" />
|
| 151 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 152 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 153 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 154 |
+
<body name="RR_calf" pos="0 0 -0.213">
|
| 155 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 156 |
+
<joint name="RR_calf_joint" class="knee" />
|
| 157 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 158 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 159 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 160 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 161 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 162 |
+
<geom name="RR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 163 |
+
</body>
|
| 164 |
+
</body>
|
| 165 |
+
</body>
|
| 166 |
+
</body>
|
| 167 |
+
</worldbody>
|
| 168 |
+
<actuator>
|
| 169 |
+
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 170 |
+
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 171 |
+
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 172 |
+
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 173 |
+
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 174 |
+
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 175 |
+
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 176 |
+
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 177 |
+
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 178 |
+
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 179 |
+
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 180 |
+
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 181 |
+
</actuator>
|
| 182 |
+
<keyframe>
|
| 183 |
+
<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
|
| 184 |
+
</keyframe>
|
| 185 |
+
</mujoco>
|
data/runtime/artifacts/NAT-01-rock-kick/m1_world.xml
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/runtime/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml
ADDED
|
@@ -0,0 +1,85 @@
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="clearpath_jackal_ugv">
|
| 2 |
+
<compiler angle="degree" autolimits="true" />
|
| 3 |
+
<asset>
|
| 4 |
+
<mesh name="jackal_base" file="../../vendor/jackal_ugv/assets/jackal_base.stl" scale="4.05 4.05 4.05" />
|
| 5 |
+
<mesh name="jackal_fender" file="../../vendor/jackal_ugv/assets/jackal_fender.stl" scale="4.05 4.05 4.05" />
|
| 6 |
+
<mesh name="jackal_wheel" file="../../vendor/jackal_ugv/assets/jackal_wheel.stl" scale="4.05 4.05 4.05" />
|
| 7 |
+
<material name="jackal_black" rgba="0.10 0.11 0.10 1" />
|
| 8 |
+
<material name="jackal_yellow" rgba="0.80 0.62 0.03 1" />
|
| 9 |
+
<material name="jackal_tire" rgba="0.035 0.035 0.035 1" />
|
| 10 |
+
<material name="jackal_sensor" rgba="0.35 0.38 0.39 1" />
|
| 11 |
+
</asset>
|
| 12 |
+
<default>
|
| 13 |
+
<joint damping="0.08" armature="0.01" />
|
| 14 |
+
<geom friction="1.4 0.02 0.001" condim="4" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 15 |
+
</default>
|
| 16 |
+
<worldbody>
|
| 17 |
+
<body name="jackal_base">
|
| 18 |
+
<freejoint name="jackal_freejoint" />
|
| 19 |
+
<inertial pos="0.036 0.006 0.201" mass="446.121" fullinertia="76.2048 95.3046 108.9855 -0.1944 3.9852 -0.2187" />
|
| 20 |
+
<geom name="jackal_body_visual" type="mesh" mesh="jackal_base" pos="0 0 -0.265275" quat="0.5 0.5 0.5 0.5" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 21 |
+
<geom name="jackal_chassis_collision" type="box" pos="0 0 0.3726" size="0.8505 0.62775 0.3726" group="3" rgba="0 0 0 0" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 22 |
+
<geom name="jackal_left_guard_visual" type="box" pos="0 0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 23 |
+
<geom name="jackal_right_guard_visual" type="box" pos="0 -0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 24 |
+
<geom name="jackal_front_bumper_visual" type="box" pos="0.95175 0 0.30375" size="0.10125 0.70875 0.14175" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 25 |
+
<body name="jackal_lidar_mount" pos="0.18225 0 0.87075">
|
| 26 |
+
<geom name="jackal_lidar_pedestal_visual" type="cylinder" size="0.1296 0.0729" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 27 |
+
<geom name="jackal_lidar_visual" type="cylinder" pos="0 0 0.1053" size="0.1944 0.0486" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 28 |
+
</body>
|
| 29 |
+
<body name="jackal_front_fender">
|
| 30 |
+
<geom name="jackal_front_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 31 |
+
</body>
|
| 32 |
+
<body name="jackal_rear_fender" euler="0 0 180">
|
| 33 |
+
<geom name="jackal_rear_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
|
| 34 |
+
</body>
|
| 35 |
+
<body name="jackal_front_left_wheel" pos="0.53055 0.76056975 0.139725">
|
| 36 |
+
<joint name="jackal_front_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 37 |
+
<joint name="jackal_front_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 38 |
+
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 39 |
+
<geom name="jackal_front_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 40 |
+
<geom name="jackal_front_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 41 |
+
</body>
|
| 42 |
+
<body name="jackal_front_right_wheel" pos="0.53055 -0.76056975 0.139725">
|
| 43 |
+
<joint name="jackal_front_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 44 |
+
<joint name="jackal_front_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 45 |
+
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 46 |
+
<geom name="jackal_front_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 47 |
+
<geom name="jackal_front_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="jackal_rear_left_wheel" pos="-0.53055 0.76056975 0.139725">
|
| 50 |
+
<joint name="jackal_rear_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 51 |
+
<joint name="jackal_rear_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 52 |
+
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 53 |
+
<geom name="jackal_rear_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 54 |
+
<geom name="jackal_rear_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 55 |
+
</body>
|
| 56 |
+
<body name="jackal_rear_right_wheel" pos="-0.53055 -0.76056975 0.139725">
|
| 57 |
+
<joint name="jackal_rear_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
|
| 58 |
+
<joint name="jackal_rear_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
|
| 59 |
+
<inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
|
| 60 |
+
<geom name="jackal_rear_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
|
| 61 |
+
<geom name="jackal_rear_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
|
| 62 |
+
</body>
|
| 63 |
+
<geom name="jackal_front_left_rim_visual" type="cylinder" pos="0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 64 |
+
<geom name="jackal_front_right_rim_visual" type="cylinder" pos="0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 65 |
+
<geom name="jackal_rear_left_rim_visual" type="cylinder" pos="-0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 66 |
+
<geom name="jackal_rear_right_rim_visual" type="cylinder" pos="-0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
|
| 67 |
+
<geom name="jackal_left_led_visual" type="box" pos="1.0125 0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
|
| 68 |
+
<geom name="jackal_right_led_visual" type="box" pos="1.0125 -0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
|
| 69 |
+
<geom name="jackal_left_roof_rail_visual" type="box" pos="0 0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 70 |
+
<geom name="jackal_right_roof_rail_visual" type="box" pos="0 -0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
|
| 71 |
+
</body>
|
| 72 |
+
</worldbody>
|
| 73 |
+
<actuator>
|
| 74 |
+
<motor name="jackal_front_left_motor" joint="jackal_front_left_joint" gear="400" ctrlrange="-1 1" />
|
| 75 |
+
<motor name="jackal_front_right_motor" joint="jackal_front_right_joint" gear="400" ctrlrange="-1 1" />
|
| 76 |
+
<motor name="jackal_rear_left_motor" joint="jackal_rear_left_joint" gear="400" ctrlrange="-1 1" />
|
| 77 |
+
<motor name="jackal_rear_right_motor" joint="jackal_rear_right_joint" gear="400" ctrlrange="-1 1" />
|
| 78 |
+
<motor name="base_force_x_ctrl" joint="jackal_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
|
| 79 |
+
<motor name="base_force_y_ctrl" joint="jackal_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
|
| 80 |
+
<motor name="base_force_z_ctrl" joint="jackal_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 81 |
+
<motor name="base_roll_ctrl" joint="jackal_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 82 |
+
<motor name="base_pitch_ctrl" joint="jackal_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 83 |
+
<motor name="base_yaw_ctrl" joint="jackal_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-650 650" />
|
| 84 |
+
</actuator>
|
| 85 |
+
</mujoco>
|
data/runtime/artifacts/NAT-02-hills-turn-stop/m1_world.xml
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/runtime/artifacts/NAT-03-water-land/m1_world.xml
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/runtime/artifacts/SER-01-medicine/m1_world.xml
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="scene_indoor_service_final_real8s">
|
| 2 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 3 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
|
| 4 |
+
<default>
|
| 5 |
+
<geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
|
| 6 |
+
</default>
|
| 7 |
+
<asset>
|
| 8 |
+
<material name="floor_mat" rgba=".55 .57 .59 1" />
|
| 9 |
+
<material name="wall" rgba=".72 .73 .73 1" />
|
| 10 |
+
<material name="wood" rgba=".45 .24 .10 1" />
|
| 11 |
+
<material name="metal" rgba=".34 .38 .40 1" />
|
| 12 |
+
<material name="fabric" rgba=".10 .30 .42 1" />
|
| 13 |
+
<material name="package" rgba=".56 .27 .07 1" />
|
| 14 |
+
<material name="dark" rgba=".03 .04 .05 1" />
|
| 15 |
+
<material name="robot" rgba=".74 .79 .80 1" />
|
| 16 |
+
<material name="rubber" rgba=".012 .014 .016 1" />
|
| 17 |
+
<material name="service" rgba=".12 .58 .50 1" />
|
| 18 |
+
<material name="airport" rgba=".05 .35 .70 1" />
|
| 19 |
+
<material name="hotel" rgba=".62 .31 .08 1" />
|
| 20 |
+
</asset>
|
| 21 |
+
<worldbody>
|
| 22 |
+
<light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
|
| 23 |
+
<geom name="floor" type="box" pos="0 0 -.05" size="7.0 7.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 24 |
+
<geom name="wall_back" type="box" pos="0 7.0 2.7" size="7.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 25 |
+
<geom name="wall_left" type="box" pos="-7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 26 |
+
<geom name="wall_right" type="box" pos="7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 27 |
+
<geom name="surface_service_entry_mat" type="box" pos="-3.48 -3.16 .0025" size="1.42 .58 .0025" material="service" friction="1.08 .035 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 28 |
+
<geom name="surface_service_tile_joint_a" type="capsule" fromto="-3.72 -1.94 .006 -2.30 -1.94 .006" size=".006" material="metal" friction=".82 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
+
<geom name="surface_service_tile_joint_b" type="capsule" fromto="-3.62 -.46 .005 -2.38 -.46 .005" size=".005" material="metal" friction=".86 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 30 |
+
<geom name="counter_left" type="box" pos="-3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 31 |
+
<geom name="counter_right" type="box" pos="3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 32 |
+
<geom name="counter_top_left" type="box" pos="-3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 33 |
+
<geom name="counter_top_right" type="box" pos="3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 34 |
+
<geom name="left_bench" type="box" pos="-4.8 -1.1 .48" size="1.15 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 35 |
+
<geom name="left_bench_back" type="box" pos="-4.8 -.68 .92" size="1.15 .10 .48" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 36 |
+
<geom name="queue_post_a" type="cylinder" pos="-2.2 -2.8 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 37 |
+
<geom name="queue_post_b" type="cylinder" pos="-2.2 0 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 38 |
+
<geom name="queue_rail" type="box" pos="-2.2 -1.4 1.0" size=".035 1.4 .035" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 39 |
+
<body name="task_item" pos="-3.1 2.0 1.43">
|
| 40 |
+
<freejoint name="task_item_free" />
|
| 41 |
+
<geom name="medicine_pouch" type="box" size=".13 .09 .055" mass=".45" material="package" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 42 |
+
</body>
|
| 43 |
+
<body name="robot" pos="-4.00000000 -3.79999995 .005">
|
| 44 |
+
<freejoint name="root_free" />
|
| 45 |
+
<inertial pos="0 0 .35" mass="58" diaginertia="12 12 6" />
|
| 46 |
+
<geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.42 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 47 |
+
<geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.32760 0.26880 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 48 |
+
<body name="wheel_left" pos="-0.39000 0 0.20000">
|
| 49 |
+
<joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 50 |
+
<geom name="wheel_left_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 51 |
+
</body>
|
| 52 |
+
<body name="wheel_right" pos="0.39000 0 0.20000">
|
| 53 |
+
<joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 54 |
+
<geom name="wheel_right_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 55 |
+
</body>
|
| 56 |
+
<body name="caster_front" pos="0 .31 .105">
|
| 57 |
+
<joint name="caster_front_ball" type="ball" damping=".002" />
|
| 58 |
+
<geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 59 |
+
</body>
|
| 60 |
+
<body name="caster_rear" pos="0 -.31 .105">
|
| 61 |
+
<joint name="caster_rear_ball" type="ball" damping=".002" />
|
| 62 |
+
<geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
+
</body>
|
| 64 |
+
<body name="lift_stage" pos="0 .82 1.01">
|
| 65 |
+
<joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.42" damping="140" frictionloss="8" />
|
| 66 |
+
<geom name="lift_carriage_collision" type="box" pos=".22 -.90 .01" size=".13 .12 .16" mass="5" material="service" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 67 |
+
<body name="grasp_frame" pos=".06 0 0">
|
| 68 |
+
<joint name="arm_joint" type="slide" axis="0 1 0" range="-.01 0.46" damping="140" frictionloss="8" />
|
| 69 |
+
<geom name="gripper_palm_collision" type="box" pos="0 -.10 0" size=".12 .04 .07" mass="2.0" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 70 |
+
<geom name="gripper_finger_l" type="box" pos="-.18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 71 |
+
<geom name="gripper_finger_r" type="box" pos=".18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 72 |
+
</body>
|
| 73 |
+
</body>
|
| 74 |
+
</body>
|
| 75 |
+
</worldbody>
|
| 76 |
+
<equality>
|
| 77 |
+
<weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".012 1" />
|
| 78 |
+
</equality>
|
| 79 |
+
<actuator>
|
| 80 |
+
<velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 81 |
+
<velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 82 |
+
<position name="lift_ctrl" joint="lift_joint" kp="6000" />
|
| 83 |
+
<position name="arm_ctrl" joint="arm_joint" kp="6000" />
|
| 84 |
+
<motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 85 |
+
<motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 86 |
+
<motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 87 |
+
<motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 88 |
+
<motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 89 |
+
<motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
|
| 90 |
+
</actuator>
|
| 91 |
+
<contact>
|
| 92 |
+
<exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
|
| 93 |
+
</contact>
|
| 94 |
+
</mujoco>
|
data/runtime/artifacts/SER-02-airport-luggage/m1_world.xml
ADDED
|
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="indoor2_airport_final_real8s">
|
| 2 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 3 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
|
| 4 |
+
<default>
|
| 5 |
+
<geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
|
| 6 |
+
</default>
|
| 7 |
+
<asset>
|
| 8 |
+
<material name="floor_mat" rgba=".55 .57 .59 1" />
|
| 9 |
+
<material name="wall" rgba=".72 .73 .73 1" />
|
| 10 |
+
<material name="wood" rgba=".45 .24 .10 1" />
|
| 11 |
+
<material name="metal" rgba=".34 .38 .40 1" />
|
| 12 |
+
<material name="fabric" rgba=".10 .30 .42 1" />
|
| 13 |
+
<material name="package" rgba=".56 .27 .07 1" />
|
| 14 |
+
<material name="dark" rgba=".03 .04 .05 1" />
|
| 15 |
+
<material name="robot" rgba=".74 .79 .80 1" />
|
| 16 |
+
<material name="rubber" rgba=".012 .014 .016 1" />
|
| 17 |
+
<material name="service" rgba=".12 .58 .50 1" />
|
| 18 |
+
<material name="airport" rgba=".05 .35 .70 1" />
|
| 19 |
+
<material name="hotel" rgba=".62 .31 .08 1" />
|
| 20 |
+
</asset>
|
| 21 |
+
<worldbody>
|
| 22 |
+
<light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
|
| 23 |
+
<geom name="floor" type="box" pos="0 0 -.05" size="8.0 8.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 24 |
+
<geom name="wall_back" type="box" pos="0 8.0 2.7" size="8.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 25 |
+
<geom name="wall_left" type="box" pos="-8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 26 |
+
<geom name="wall_right" type="box" pos="8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 27 |
+
<geom name="surface_airport_carpet" type="box" pos="4.86 .72 .0025" size="1.34 1.78 .0025" material="fabric" friction="1.52 .040 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 28 |
+
<geom name="surface_airport_tile_joint_a" type="capsule" fromto="-.28 -2.56 .0055 1.30 -2.56 .0055" size=".0055" material="metal" friction=".80 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
+
<geom name="surface_airport_tile_joint_b" type="capsule" fromto="2.66 -3.18 .006 2.66 -1.92 .006" size=".006" material="metal" friction=".84 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 30 |
+
<geom name="seat_0_0" type="box" pos="-5.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 31 |
+
<geom name="seat_back_0_0" type="box" pos="-5.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 32 |
+
<geom name="seat_0_1" type="box" pos="-3.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 33 |
+
<geom name="seat_back_0_1" type="box" pos="-3.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 34 |
+
<geom name="seat_0_2" type="box" pos="-2.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 35 |
+
<geom name="seat_back_0_2" type="box" pos="-2.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 36 |
+
<geom name="seat_0_3" type="box" pos="-0.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 37 |
+
<geom name="seat_back_0_3" type="box" pos="-0.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 38 |
+
<geom name="seat_0_4" type="box" pos="0.800 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 39 |
+
<geom name="seat_back_0_4" type="box" pos="0.800 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 40 |
+
<geom name="seat_0_5" type="box" pos="2.300 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 41 |
+
<geom name="seat_back_0_5" type="box" pos="2.300 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 42 |
+
<geom name="seat_1_0" type="box" pos="-5.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 43 |
+
<geom name="seat_back_1_0" type="box" pos="-5.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 44 |
+
<geom name="seat_1_1" type="box" pos="-3.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 45 |
+
<geom name="seat_back_1_1" type="box" pos="-3.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 46 |
+
<geom name="seat_1_2" type="box" pos="-2.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 47 |
+
<geom name="seat_back_1_2" type="box" pos="-2.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 48 |
+
<geom name="seat_1_3" type="box" pos="-0.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 49 |
+
<geom name="seat_back_1_3" type="box" pos="-0.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 50 |
+
<geom name="seat_1_4" type="box" pos="0.800 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 51 |
+
<geom name="seat_back_1_4" type="box" pos="0.800 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 52 |
+
<geom name="gate_desk" type="box" pos="4.8 4.8 .65" size="2 .70 .65" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 53 |
+
<geom name="fids" type="box" pos="-6.2 5.2 1.75" size=".65 .28 1.75" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 54 |
+
<body name="brown_luggage" pos="-3.2 -1.0 .31">
|
| 55 |
+
<freejoint name="brown_luggage_free" />
|
| 56 |
+
<geom name="brown_luggage_geom" type="box" size=".27 .20 .27" mass="7" material="package" friction=".65 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 57 |
+
</body>
|
| 58 |
+
<body name="task_item" pos=".5 -1.2 .38">
|
| 59 |
+
<freejoint name="task_item_free" />
|
| 60 |
+
<geom name="luggage_shell" type="box" pos="0 0 .01" size=".34 .22 .30" mass="11.0" material="airport" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 61 |
+
<geom name="luggage_wheel_l" type="sphere" pos="-.20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 62 |
+
<geom name="luggage_wheel_r" type="sphere" pos=".20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
+
</body>
|
| 64 |
+
<body name="robot" pos="0.50000000 -3.09999990 .005">
|
| 65 |
+
<freejoint name="root_free" />
|
| 66 |
+
<inertial pos="0 0 .35" mass="72" diaginertia="12 12 6" />
|
| 67 |
+
<geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.5 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 68 |
+
<geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.39000 0.32000 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 69 |
+
<body name="wheel_left" pos="-0.39000 0 0.18000">
|
| 70 |
+
<joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 71 |
+
<geom name="wheel_left_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 72 |
+
</body>
|
| 73 |
+
<body name="wheel_right" pos="0.39000 0 0.18000">
|
| 74 |
+
<joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 75 |
+
<geom name="wheel_right_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 76 |
+
</body>
|
| 77 |
+
<body name="caster_front" pos="0 .31 .105">
|
| 78 |
+
<joint name="caster_front_ball" type="ball" damping=".002" />
|
| 79 |
+
<geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 80 |
+
</body>
|
| 81 |
+
<body name="caster_rear" pos="0 -.31 .105">
|
| 82 |
+
<joint name="caster_rear_ball" type="ball" damping=".002" />
|
| 83 |
+
<geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 84 |
+
</body>
|
| 85 |
+
<body name="grasp_frame" pos="0 .75 .38">
|
| 86 |
+
<joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.36" damping="140" frictionloss="8" />
|
| 87 |
+
<geom name="lift_fork_l" type="box" pos="-.31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 88 |
+
<geom name="lift_fork_r" type="box" pos=".31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 89 |
+
<geom name="clamp_l" type="box" pos="-.38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 90 |
+
<geom name="clamp_r" type="box" pos=".38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 91 |
+
</body>
|
| 92 |
+
</body>
|
| 93 |
+
</worldbody>
|
| 94 |
+
<equality>
|
| 95 |
+
<weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".080 1" />
|
| 96 |
+
</equality>
|
| 97 |
+
<actuator>
|
| 98 |
+
<velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 99 |
+
<velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 100 |
+
<position name="lift_ctrl" joint="lift_joint" kp="6000" />
|
| 101 |
+
<motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 102 |
+
<motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 103 |
+
<motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 104 |
+
<motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 105 |
+
<motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 106 |
+
<motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
|
| 107 |
+
</actuator>
|
| 108 |
+
<contact>
|
| 109 |
+
<exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
|
| 110 |
+
</contact>
|
| 111 |
+
</mujoco>
|
data/runtime/artifacts/SER-03-hotel-drawer/m1_world.xml
ADDED
|
@@ -0,0 +1,84 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="indoor3_hotel_final_real8s">
|
| 2 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 3 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
|
| 4 |
+
<default>
|
| 5 |
+
<geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
|
| 6 |
+
</default>
|
| 7 |
+
<asset>
|
| 8 |
+
<material name="floor_mat" rgba=".55 .57 .59 1" />
|
| 9 |
+
<material name="wall" rgba=".72 .73 .73 1" />
|
| 10 |
+
<material name="wood" rgba=".45 .24 .10 1" />
|
| 11 |
+
<material name="metal" rgba=".34 .38 .40 1" />
|
| 12 |
+
<material name="fabric" rgba=".10 .30 .42 1" />
|
| 13 |
+
<material name="package" rgba=".56 .27 .07 1" />
|
| 14 |
+
<material name="dark" rgba=".03 .04 .05 1" />
|
| 15 |
+
<material name="robot" rgba=".74 .79 .80 1" />
|
| 16 |
+
<material name="rubber" rgba=".012 .014 .016 1" />
|
| 17 |
+
<material name="service" rgba=".12 .58 .50 1" />
|
| 18 |
+
<material name="airport" rgba=".05 .35 .70 1" />
|
| 19 |
+
<material name="hotel" rgba=".62 .31 .08 1" />
|
| 20 |
+
</asset>
|
| 21 |
+
<worldbody>
|
| 22 |
+
<light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
|
| 23 |
+
<geom name="floor" type="box" pos="0 0 -.05" size="8.0 8.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 24 |
+
<geom name="wall_back" type="box" pos="0 8.0 2.7" size="8.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 25 |
+
<geom name="wall_left" type="box" pos="-8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 26 |
+
<geom name="wall_right" type="box" pos="8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 27 |
+
<geom name="reception" type="box" pos="-3.2 3.9 .66" size="2.7 .72 .66" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 28 |
+
<geom name="reception_top" type="box" pos="-3.2 3.76 1.37" size="2.8 .86 .08" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 29 |
+
<geom name="elevator_1" type="box" pos="2.6 7.72 1.55" size="1 .08 1.55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 30 |
+
<geom name="elevator_2" type="box" pos="5.1 7.72 1.55" size="1 .08 1.55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 31 |
+
<geom name="lounge_1" type="box" pos="-5.3 -.15 .46" size=".85 .70 .16" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 32 |
+
<geom name="lounge_2" type="box" pos="-2.7 -.15 .46" size=".85 .70 .16" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 33 |
+
<geom name="context_parcel" type="box" pos="2.35 -.95 .28" size=".40 .32 .28" material="package" friction=".62 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 34 |
+
<geom name="room_door_1208" type="box" pos="6.84 4.60 1.40" size=".055 .92 1.40" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 35 |
+
<body name="meal_parcel" pos="1.1 -5.42 1.01">
|
| 36 |
+
<freejoint name="meal_parcel_free" />
|
| 37 |
+
<geom name="meal_parcel_geom" type="box" size=".22 .12 .095" mass="1.2" material="package" friction=".78 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 38 |
+
</body>
|
| 39 |
+
<body name="robot" pos="1.10000002 -5.59999990 .005">
|
| 40 |
+
<freejoint name="root_free" />
|
| 41 |
+
<inertial pos="0 0 .35" mass="78" diaginertia="12 12 6" />
|
| 42 |
+
<geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.49 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 43 |
+
<geom name="robot_body_collision" type="box" pos="0 0 0.52000" size="0.38220 0.31360 0.25000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 44 |
+
<body name="wheel_left" pos="-0.34000 0 0.16000">
|
| 45 |
+
<joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 46 |
+
<geom name="wheel_left_geom" type="cylinder" size="0.16000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 47 |
+
</body>
|
| 48 |
+
<body name="wheel_right" pos="0.34000 0 0.16000">
|
| 49 |
+
<joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
|
| 50 |
+
<geom name="wheel_right_geom" type="cylinder" size="0.16000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 51 |
+
</body>
|
| 52 |
+
<body name="caster_front" pos="0 .31 .105">
|
| 53 |
+
<joint name="caster_front_ball" type="ball" damping=".002" />
|
| 54 |
+
<geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 55 |
+
</body>
|
| 56 |
+
<body name="caster_rear" pos="0 -.31 .105">
|
| 57 |
+
<joint name="caster_rear_ball" type="ball" damping=".002" />
|
| 58 |
+
<geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 59 |
+
</body>
|
| 60 |
+
<body name="upper_drawer" pos="0 .37 1.02">
|
| 61 |
+
<joint name="drawer_joint" type="slide" axis="0 1 0" range="-.01 0.31" damping="120" frictionloss="8" armature=".03" stiffness="0" springref="0" />
|
| 62 |
+
<geom name="drawer_front" type="box" size=".33 .035 .16" mass="2.2" material="hotel" friction=".62 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 63 |
+
<geom name="drawer_bottom" type="box" pos="0 -.19 -.14" size=".29 .18 .025" mass="1.4" material="metal" friction=".78 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 64 |
+
<geom name="drawer_left" type="box" pos="-.29 -.19 -.02" size=".025 .18 .12" mass=".5" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 65 |
+
<geom name="drawer_right" type="box" pos=".29 -.19 -.02" size=".025 .18 .12" mass=".5" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 66 |
+
<geom name="drawer_back" type="box" pos="0 -.36 -.02" size=".29 .025 .12" mass=".4" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
|
| 67 |
+
</body>
|
| 68 |
+
</body>
|
| 69 |
+
</worldbody>
|
| 70 |
+
<equality>
|
| 71 |
+
<joint name="drawer_lock" joint1="drawer_joint" polycoef="0 1 0 0 0" active="false" solref=".010 1" />
|
| 72 |
+
</equality>
|
| 73 |
+
<actuator>
|
| 74 |
+
<velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 75 |
+
<velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
|
| 76 |
+
<position name="drawer_ctrl" joint="drawer_joint" kp="3000" forcelimited="true" forcerange="-420 420" />
|
| 77 |
+
<motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 78 |
+
<motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
|
| 79 |
+
<motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 80 |
+
<motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 81 |
+
<motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
|
| 82 |
+
<motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
|
| 83 |
+
</actuator>
|
| 84 |
+
</mujoco>
|
data/runtime/artifacts/URB-01-agv-city/runtime_model.xml
ADDED
|
@@ -0,0 +1,132 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
<mesh name="terrain_00" file="../../vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_00_collision.obj" />
|
| 11 |
+
<mesh name="terrain_01" file="../../vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_01_collision.obj" />
|
| 12 |
+
<mesh name="terrain_02" file="../../vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_02_collision.obj" />
|
| 13 |
+
<mesh name="terrain_03" file="../../vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_03_collision.obj" />
|
| 14 |
+
<mesh name="terrain_04" file="../../vendor/handover9_20260921/tmp_agv_city_export2/background_terrain_04_collision.obj" />
|
| 15 |
+
<mesh name="rover_body" file="../../vendor/handover9_20260921/rover_assets/rover_body.obj" />
|
| 16 |
+
<mesh name="rover_wheel" file="../../vendor/handover9_20260921/rover_assets/rover_wheel.obj" />
|
| 17 |
+
<material name="rover_chassis" rgba="0.15 0.35 0.55 1" />
|
| 18 |
+
<material name="rover_wheel" rgba="0.12 0.12 0.12 1" />
|
| 19 |
+
<material name="rover_detail" rgba="0.80 0.60 0.10 1" />
|
| 20 |
+
</asset>
|
| 21 |
+
<worldbody>
|
| 22 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 23 |
+
<geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 24 |
+
<geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 25 |
+
<geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 26 |
+
<geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 27 |
+
<geom name="terrain_04" type="mesh" mesh="terrain_04" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 28 |
+
<geom name="prop_convex_small_000_bldg_-1_0" type="box" pos="-3.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 29 |
+
<geom name="prop_convex_small_001_bldg_-1_1" type="box" pos="4.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 30 |
+
<geom name="prop_convex_small_002_bldg_-1_2" type="box" pos="11.000000 -9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 31 |
+
<geom name="prop_convex_small_003_bldg_-1_3" type="box" pos="18.000000 -9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 32 |
+
<geom name="prop_convex_small_004_bldg_-1_4" type="box" pos="25.000000 -9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 33 |
+
<geom name="prop_convex_small_005_bldg_1_0" type="box" pos="-3.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 34 |
+
<geom name="prop_convex_small_006_bldg_1_1" type="box" pos="4.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 35 |
+
<geom name="prop_convex_small_007_bldg_1_2" type="box" pos="11.000000 9.000000 7.500000" size="3.000000 2.500000 7.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 36 |
+
<geom name="prop_convex_small_008_bldg_1_3" type="box" pos="18.000000 9.000000 4.500000" size="3.000000 2.500000 4.500000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 37 |
+
<geom name="prop_convex_small_009_bldg_1_4" type="box" pos="25.000000 9.000000 6.000000" size="3.000000 2.500000 6.000000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
+
<geom name="prop_convex_small_010_lamp_arm_-1_-2_0" type="box" pos="-2.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
+
<geom name="prop_convex_small_011_lamp_arm_-1_10_0" type="box" pos="10.000000 -4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
+
<geom name="prop_convex_small_012_lamp_arm_-1_16_0" type="box" pos="16.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
+
<geom name="prop_convex_small_013_lamp_arm_-1_4_0" type="box" pos="4.000000 -4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
+
<geom name="prop_convex_small_014_lamp_arm_1_-2_0" type="box" pos="-2.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
+
<geom name="prop_convex_small_015_lamp_arm_1_10_0" type="box" pos="10.000000 4.350000 4.300000" size="0.027141 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
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<geom name="prop_convex_small_016_lamp_arm_1_16_0" type="box" pos="16.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
+
<geom name="prop_convex_small_017_lamp_arm_1_4_0" type="box" pos="4.000000 4.350000 4.300000" size="0.027140 0.027140 0.600000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
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<geom name="prop_convex_small_018_lamp_head_-1_-2_0" type="box" pos="-2.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
+
<geom name="prop_convex_small_019_lamp_head_-1_10_0" type="box" pos="10.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 48 |
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<geom name="prop_convex_small_020_lamp_head_-1_16_0" type="box" pos="16.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 49 |
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<geom name="prop_convex_small_021_lamp_head_-1_4_0" type="box" pos="4.000000 -4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 50 |
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<geom name="prop_convex_small_022_lamp_head_1_-2_0" type="box" pos="-2.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 51 |
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<geom name="prop_convex_small_023_lamp_head_1_10_0" type="box" pos="10.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 52 |
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<geom name="prop_convex_small_024_lamp_head_1_16_0" type="box" pos="16.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 53 |
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<geom name="prop_convex_small_025_lamp_head_1_4_0" type="box" pos="4.000000 4.950000 4.320000" size="0.100000 0.100000 0.060000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 54 |
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<geom name="prop_convex_small_026_lamp_pole_-1_-2_0" type="box" pos="-2.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 55 |
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<geom name="prop_convex_small_027_lamp_pole_-1_10_0" type="box" pos="10.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 56 |
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<geom name="prop_convex_small_028_lamp_pole_-1_16_0" type="box" pos="16.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 57 |
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<geom name="prop_convex_small_029_lamp_pole_-1_4_0" type="box" pos="4.000000 -4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 58 |
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<geom name="prop_convex_small_030_lamp_pole_1_-2_0" type="box" pos="-2.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 59 |
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<geom name="prop_convex_small_031_lamp_pole_1_10_0" type="box" pos="10.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 60 |
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<geom name="prop_convex_small_032_lamp_pole_1_16_0" type="box" pos="16.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 61 |
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<geom name="prop_convex_small_033_lamp_pole_1_4_0" type="box" pos="4.000000 4.350000 2.250000" size="0.050000 0.050000 2.250000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 62 |
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<geom name="prop_convex_small_034_tree_crown_-1_-0_5" type="box" pos="-0.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 63 |
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<geom name="prop_convex_small_035_tree_crown_-1_12_0" type="box" pos="12.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 64 |
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<geom name="prop_convex_small_036_tree_crown_-1_18_0" type="box" pos="18.000000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 65 |
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<geom name="prop_convex_small_037_tree_crown_-1_5_5" type="box" pos="5.500000 -6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 66 |
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<geom name="prop_convex_small_038_tree_crown_1_-0_5" type="box" pos="-0.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 67 |
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<geom name="prop_convex_small_039_tree_crown_1_12_0" type="box" pos="12.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 68 |
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<geom name="prop_convex_small_040_tree_crown_1_18_0" type="box" pos="18.000000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 69 |
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<geom name="prop_convex_small_041_tree_crown_1_5_5" type="box" pos="5.500000 6.300000 2.600000" size="0.750000 0.750000 0.800000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 70 |
+
<geom name="prop_convex_small_042_tree_trunk_-1_-0_5" type="box" pos="-0.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 71 |
+
<geom name="prop_convex_small_043_tree_trunk_-1_12_0" type="box" pos="12.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 72 |
+
<geom name="prop_convex_small_044_tree_trunk_-1_18_0" type="box" pos="18.000000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 73 |
+
<geom name="prop_convex_small_045_tree_trunk_-1_5_5" type="box" pos="5.500000 -6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 74 |
+
<geom name="prop_convex_small_046_tree_trunk_1_-0_5" type="box" pos="-0.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 75 |
+
<geom name="prop_convex_small_047_tree_trunk_1_12_0" type="box" pos="12.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 76 |
+
<geom name="prop_convex_small_048_tree_trunk_1_18_0" type="box" pos="18.000000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 77 |
+
<geom name="prop_convex_small_049_tree_trunk_1_5_5" type="box" pos="5.500000 6.300000 1.000000" size="0.100000 0.100000 0.900000" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 78 |
+
<body name="rover_base" pos="0 0 0.22">
|
| 79 |
+
<freejoint name="rover_freejoint" />
|
| 80 |
+
<inertial mass="18.0" pos="0 0 0" diaginertia="0.35 0.55 0.65" />
|
| 81 |
+
<geom class="rover_visual" mesh="rover_body" material="rover_chassis" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 82 |
+
<geom type="box" size="0.40 0.25 0.10" friction="0.5 0.01 0.001" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 83 |
+
<body name="rover_fl_wheel" pos=" 0.32 0.27 -0.10">
|
| 84 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 85 |
+
<joint name="fl_wheel_joint" axis="0 1 0" />
|
| 86 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 87 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 88 |
+
</body>
|
| 89 |
+
<body name="rover_fr_wheel" pos=" 0.32 -0.27 -0.10">
|
| 90 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 91 |
+
<joint name="fr_wheel_joint" axis="0 1 0" />
|
| 92 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 93 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 94 |
+
</body>
|
| 95 |
+
<body name="rover_rl_wheel" pos="-0.32 0.27 -0.10">
|
| 96 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 97 |
+
<joint name="rl_wheel_joint" axis="0 1 0" />
|
| 98 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 99 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 100 |
+
</body>
|
| 101 |
+
<body name="rover_rr_wheel" pos="-0.32 -0.27 -0.10">
|
| 102 |
+
<inertial mass="1.2" pos="0 0 0" diaginertia="0.008 0.005 0.005" />
|
| 103 |
+
<joint name="rr_wheel_joint" axis="0 1 0" />
|
| 104 |
+
<geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 105 |
+
<geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
|
| 106 |
+
</body>
|
| 107 |
+
</body>
|
| 108 |
+
</worldbody>
|
| 109 |
+
<keyframe>
|
| 110 |
+
<key name="m2_init" qpos="0 0 0.221 1 0 0 0 0 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 111 |
+
</keyframe>
|
| 112 |
+
<default>
|
| 113 |
+
<default class="rover_visual">
|
| 114 |
+
<geom contype="0" conaffinity="0" group="2" type="mesh" />
|
| 115 |
+
</default>
|
| 116 |
+
<default class="rover_wheel">
|
| 117 |
+
<geom friction="1.4 0.02 0.01" condim="3" type="cylinder" size="0.12 0.03" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 118 |
+
</default>
|
| 119 |
+
</default>
|
| 120 |
+
<actuator>
|
| 121 |
+
<velocity name="fl_wheel" joint="fl_wheel_joint" kv="60" />
|
| 122 |
+
<velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
|
| 123 |
+
<velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
|
| 124 |
+
<velocity name="rr_wheel" joint="rr_wheel_joint" kv="60" />
|
| 125 |
+
<motor name="base_force_x_ctrl" joint="rover_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 126 |
+
<motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
|
| 127 |
+
<motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
|
| 128 |
+
<motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 129 |
+
<motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
|
| 130 |
+
<motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
|
| 131 |
+
</actuator>
|
| 132 |
+
</mujoco>
|
data/runtime/artifacts/URB-02-intersection/runtime_model.xml
ADDED
|
@@ -0,0 +1,254 @@
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
<mesh name="terrain_00" file="../../vendor/handover9_20260921/tmp_intersection_export5/background_terrain_00_collision.obj" />
|
| 11 |
+
<mesh name="terrain_01" file="../../vendor/handover9_20260921/tmp_intersection_export5/background_terrain_01_collision.obj" />
|
| 12 |
+
<mesh name="terrain_02" file="../../vendor/handover9_20260921/tmp_intersection_export5/background_terrain_02_collision.obj" />
|
| 13 |
+
<mesh name="terrain_03" file="../../vendor/handover9_20260921/tmp_intersection_export5/background_terrain_03_collision.obj" />
|
| 14 |
+
<material name="metal" rgba=".9 .95 .95 1" />
|
| 15 |
+
<material name="black" rgba="0 0 0 1" />
|
| 16 |
+
<material name="white" rgba="1 1 1 1" />
|
| 17 |
+
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
| 18 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
|
| 19 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 20 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
|
| 21 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 22 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 23 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 24 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 25 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 26 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 27 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 28 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
|
| 29 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 30 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 31 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 32 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
| 33 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
|
| 34 |
+
</asset>
|
| 35 |
+
<worldbody>
|
| 36 |
+
<light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
|
| 37 |
+
<geom name="terrain_00" type="mesh" mesh="terrain_00" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 38 |
+
<geom name="terrain_01" type="mesh" mesh="terrain_01" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 39 |
+
<geom name="terrain_02" type="mesh" mesh="terrain_02" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 40 |
+
<geom name="terrain_03" type="mesh" mesh="terrain_03" contype="2" conaffinity="1" friction="0.9 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 41 |
+
<geom name="prop_convex_small_000_bldg_BrickBuildingFactory(500)_spawn_asset(500)" type="box" pos="13.712501 -9.000000 8.188813" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 42 |
+
<geom name="prop_convex_small_001_bldg_BrickBuildingFactory(503)_spawn_asset(503)" type="box" pos="14.000000 9.000000 8.633354" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 43 |
+
<geom name="prop_convex_small_002_bldg_BrickBuildingFactory(600)_spawn_asset(600)" type="box" pos="-13.712500 -7.000000 8.949287" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 44 |
+
<geom name="prop_convex_small_003_bldg_BrickBuildingFactory(601)_spawn_asset(601)" type="box" pos="-13.712500 2.000000 7.232032" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 45 |
+
<geom name="prop_convex_small_004_bldg_BrickBuildingFactory(602)_spawn_asset(602)" type="box" pos="-13.712500 10.000000 5.158244" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 46 |
+
<geom name="prop_convex_small_005_bldg_BrickBuildingFactory(710)_spawn_asset(710)" type="box" pos="0.000000 -16.000000 8.209558" size="0.150000 5.602831 7.013234" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 47 |
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| 143 |
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<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 144 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 145 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 146 |
+
<geom name="FR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 147 |
+
</body>
|
| 148 |
+
</body>
|
| 149 |
+
</body>
|
| 150 |
+
<body name="RL_hip" pos="-0.1934 0.0465 0">
|
| 151 |
+
<inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 152 |
+
<joint name="RL_hip_joint" class="abduction" />
|
| 153 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 154 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
+
<geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 156 |
+
<body name="RL_thigh" pos="0 0.0955 0">
|
| 157 |
+
<inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 158 |
+
<joint name="RL_thigh_joint" class="back_hip" />
|
| 159 |
+
<geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
+
<geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 162 |
+
<body name="RL_calf" pos="0 0 -0.213">
|
| 163 |
+
<inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 164 |
+
<joint name="RL_calf_joint" class="knee" />
|
| 165 |
+
<geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 166 |
+
<geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 167 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 168 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 169 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 170 |
+
<geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 171 |
+
</body>
|
| 172 |
+
</body>
|
| 173 |
+
</body>
|
| 174 |
+
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
| 175 |
+
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 176 |
+
<joint name="RR_hip_joint" class="abduction" />
|
| 177 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 178 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 179 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 180 |
+
<body name="RR_thigh" pos="0 -0.0955 0">
|
| 181 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 182 |
+
<joint name="RR_thigh_joint" class="back_hip" />
|
| 183 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 184 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 185 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 186 |
+
<body name="RR_calf" pos="0 0 -0.213">
|
| 187 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 188 |
+
<joint name="RR_calf_joint" class="knee" />
|
| 189 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 190 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 191 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 192 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 193 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 194 |
+
<geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 195 |
+
</body>
|
| 196 |
+
</body>
|
| 197 |
+
</body>
|
| 198 |
+
</body>
|
| 199 |
+
</worldbody>
|
| 200 |
+
<keyframe>
|
| 201 |
+
<key name="m2_init" qpos="-5 0.8 0.29 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 202 |
+
</keyframe>
|
| 203 |
+
<default>
|
| 204 |
+
<default class="go2">
|
| 205 |
+
<geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 206 |
+
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 207 |
+
<motor ctrlrange="-23.7 23.7" />
|
| 208 |
+
<default class="abduction">
|
| 209 |
+
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 210 |
+
</default>
|
| 211 |
+
<default class="hip">
|
| 212 |
+
<default class="front_hip">
|
| 213 |
+
<joint range="-1.5708 3.4907" />
|
| 214 |
+
</default>
|
| 215 |
+
<default class="back_hip">
|
| 216 |
+
<joint range="-0.5236 4.5379" />
|
| 217 |
+
</default>
|
| 218 |
+
</default>
|
| 219 |
+
<default class="knee">
|
| 220 |
+
<joint range="-2.7227 -0.83776" />
|
| 221 |
+
<motor ctrlrange="-45.43 45.43" />
|
| 222 |
+
</default>
|
| 223 |
+
<default class="visual">
|
| 224 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 225 |
+
</default>
|
| 226 |
+
<default class="collision">
|
| 227 |
+
<geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 228 |
+
<default class="foot">
|
| 229 |
+
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" />
|
| 230 |
+
</default>
|
| 231 |
+
</default>
|
| 232 |
+
</default>
|
| 233 |
+
</default>
|
| 234 |
+
<actuator>
|
| 235 |
+
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 236 |
+
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 237 |
+
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 238 |
+
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 239 |
+
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 240 |
+
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 241 |
+
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 242 |
+
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 243 |
+
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 244 |
+
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 245 |
+
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 246 |
+
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 247 |
+
<motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 248 |
+
<motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 249 |
+
<motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" />
|
| 250 |
+
<motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 251 |
+
<motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 252 |
+
<motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" />
|
| 253 |
+
</actuator>
|
| 254 |
+
</mujoco>
|
data/runtime/artifacts/URB-03-pole-blocking/runtime_model.xml
ADDED
|
@@ -0,0 +1,229 @@
|
|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="scene_enriched">
|
| 3 |
+
<compiler angle="radian" autolimits="true" />
|
| 4 |
+
<option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
|
| 5 |
+
<visual>
|
| 6 |
+
<headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
|
| 7 |
+
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
|
| 8 |
+
</visual>
|
| 9 |
+
<asset>
|
| 10 |
+
<mesh name="terrain_00" file="../../vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_00_collision.obj" />
|
| 11 |
+
<mesh name="terrain_01" file="../../vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_01_collision.obj" />
|
| 12 |
+
<mesh name="terrain_02" file="../../vendor/handover9_20260921/tmp_dgo2_export3/background_terrain_02_collision.obj" />
|
| 13 |
+
<material name="metal" rgba=".9 .95 .95 1" />
|
| 14 |
+
<material name="black" rgba="0 0 0 1" />
|
| 15 |
+
<material name="white" rgba="1 1 1 1" />
|
| 16 |
+
<material name="gray" rgba="0.671705 0.692426 0.774270 1" />
|
| 17 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
|
| 18 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
|
| 19 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
|
| 20 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
|
| 21 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
|
| 22 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
|
| 23 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
|
| 24 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
|
| 25 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
|
| 26 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
|
| 27 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
|
| 28 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
|
| 29 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
|
| 30 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
|
| 31 |
+
<mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
|
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<geom name="RL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 146 |
+
</body>
|
| 147 |
+
</body>
|
| 148 |
+
</body>
|
| 149 |
+
<body name="RR_hip" pos="-0.1934 -0.0465 0">
|
| 150 |
+
<inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
|
| 151 |
+
<joint name="RR_hip_joint" class="abduction" />
|
| 152 |
+
<geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 153 |
+
<geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 154 |
+
<geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 155 |
+
<body name="RR_thigh" pos="0 -0.0955 0">
|
| 156 |
+
<inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
|
| 157 |
+
<joint name="RR_thigh_joint" class="back_hip" />
|
| 158 |
+
<geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 159 |
+
<geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 160 |
+
<geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 161 |
+
<body name="RR_calf" pos="0 0 -0.213">
|
| 162 |
+
<inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
|
| 163 |
+
<joint name="RR_calf_joint" class="knee" />
|
| 164 |
+
<geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 165 |
+
<geom mesh="calf_mirror_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 166 |
+
<geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 167 |
+
<geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 168 |
+
<geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 169 |
+
<geom name="RR" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 170 |
+
</body>
|
| 171 |
+
</body>
|
| 172 |
+
</body>
|
| 173 |
+
</body>
|
| 174 |
+
</worldbody>
|
| 175 |
+
<keyframe>
|
| 176 |
+
<key name="m2_init" qpos="0.5 4.5 0.29 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000" />
|
| 177 |
+
</keyframe>
|
| 178 |
+
<default>
|
| 179 |
+
<default class="go2">
|
| 180 |
+
<geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 181 |
+
<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
|
| 182 |
+
<motor ctrlrange="-23.7 23.7" />
|
| 183 |
+
<default class="abduction">
|
| 184 |
+
<joint axis="1 0 0" range="-1.0472 1.0472" />
|
| 185 |
+
</default>
|
| 186 |
+
<default class="hip">
|
| 187 |
+
<default class="front_hip">
|
| 188 |
+
<joint range="-1.5708 3.4907" />
|
| 189 |
+
</default>
|
| 190 |
+
<default class="back_hip">
|
| 191 |
+
<joint range="-0.5236 4.5379" />
|
| 192 |
+
</default>
|
| 193 |
+
</default>
|
| 194 |
+
<default class="knee">
|
| 195 |
+
<joint range="-2.7227 -0.83776" />
|
| 196 |
+
<motor ctrlrange="-45.43 45.43" />
|
| 197 |
+
</default>
|
| 198 |
+
<default class="visual">
|
| 199 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" />
|
| 200 |
+
</default>
|
| 201 |
+
<default class="collision">
|
| 202 |
+
<geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
|
| 203 |
+
<default class="foot">
|
| 204 |
+
<geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" />
|
| 205 |
+
</default>
|
| 206 |
+
</default>
|
| 207 |
+
</default>
|
| 208 |
+
</default>
|
| 209 |
+
<actuator>
|
| 210 |
+
<motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
|
| 211 |
+
<motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
|
| 212 |
+
<motor class="knee" name="FL_calf" joint="FL_calf_joint" />
|
| 213 |
+
<motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
|
| 214 |
+
<motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
|
| 215 |
+
<motor class="knee" name="FR_calf" joint="FR_calf_joint" />
|
| 216 |
+
<motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
|
| 217 |
+
<motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
|
| 218 |
+
<motor class="knee" name="RL_calf" joint="RL_calf_joint" />
|
| 219 |
+
<motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
|
| 220 |
+
<motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
|
| 221 |
+
<motor class="knee" name="RR_calf" joint="RR_calf_joint" />
|
| 222 |
+
<motor name="base_force_x_ctrl" joint="go2_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 223 |
+
<motor name="base_force_y_ctrl" joint="go2_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-170 170" />
|
| 224 |
+
<motor name="base_force_z_ctrl" joint="go2_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-150 150" />
|
| 225 |
+
<motor name="base_roll_ctrl" joint="go2_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 226 |
+
<motor name="base_pitch_ctrl" joint="go2_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-90 90" />
|
| 227 |
+
<motor name="base_yaw_ctrl" joint="go2_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-90 90" />
|
| 228 |
+
</actuator>
|
| 229 |
+
</mujoco>
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_00.obj
ADDED
|
@@ -0,0 +1,334 @@
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|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.05405644 -0.37905631 0.38444275
|
| 3 |
+
v -0.58155651 -0.37905631 0.38444275
|
| 4 |
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v -0.05405644 -0.77706072 0.38444275
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| 5 |
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v -0.05405644 -0.37905631 -0.24039866
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| 6 |
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v -0.57804537 -0.49021804 0.38444275
|
| 7 |
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v -0.54985279 -0.37905631 0.21131752
|
| 8 |
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v -0.19114657 -0.82184302 0.38444275
|
| 9 |
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v -0.05405644 -0.72692447 0.20385418
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| 10 |
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v -0.05405644 -0.37923782 -0.24027625
|
| 11 |
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v -0.12841040 -0.37905631 -0.21855917
|
| 12 |
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v -0.57732244 -0.50922897 0.38444275
|
| 13 |
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v -0.54923320 -0.37905631 0.20874818
|
| 14 |
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v -0.19656820 -0.82356711 0.38444275
|
| 15 |
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v -0.05405644 -0.72356695 0.19241445
|
| 16 |
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v -0.21014813 -0.82787748 0.38444275
|
| 17 |
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v -0.05405644 -0.41685131 -0.21201348
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| 18 |
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v -0.13419347 -0.37905631 -0.21684627
|
| 19 |
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v -0.56085099 -0.49729610 0.31647734
|
| 20 |
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v -0.56317459 -0.50410191 0.32907938
|
| 21 |
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v -0.57365637 -0.52828528 0.38444275
|
| 22 |
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v -0.54494755 -0.37905631 0.19418853
|
| 23 |
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v -0.05405644 -0.66939262 0.01580224
|
| 24 |
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v -0.22899479 -0.83236931 0.38444275
|
| 25 |
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v -0.05405644 -0.42955550 -0.20185841
|
| 26 |
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v -0.14023472 -0.37905631 -0.21482749
|
| 27 |
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v -0.54758089 -0.47297664 0.26643620
|
| 28 |
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v -0.54210764 -0.48041765 0.25891167
|
| 29 |
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v -0.54210764 -0.49947396 0.27787593
|
| 30 |
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v -0.54546385 -0.50441954 0.29053915
|
| 31 |
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v -0.41136856 -0.78740550 0.31170570
|
| 32 |
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v -0.56549808 -0.54657025 0.38285220
|
| 33 |
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v -0.56611773 -0.54666097 0.38444275
|
| 34 |
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v -0.57283022 -0.52819453 0.38205693
|
| 35 |
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v -0.54019712 -0.37905631 0.18574638
|
| 36 |
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v -0.54375990 -0.38976414 0.19889900
|
| 37 |
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v -0.05405644 -0.66245066 0.00362842
|
| 38 |
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v -0.24809964 -0.83527313 0.38444275
|
| 39 |
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v -0.29260873 -0.84203359 0.38444275
|
| 40 |
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v -0.30505271 -0.84257806 0.38444275
|
| 41 |
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v -0.38988853 -0.82238743 0.33427926
|
| 42 |
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v -0.39050812 -0.82238743 0.33427926
|
| 43 |
+
v -0.05405644 -0.43313991 -0.19886081
|
| 44 |
+
v -0.15319506 -0.37905631 -0.21011704
|
| 45 |
+
v -0.05405644 -0.43926514 -0.19372213
|
| 46 |
+
v -0.05405644 -0.64312216 -0.01778284
|
| 47 |
+
v -0.40852865 -0.74443814 0.26044104
|
| 48 |
+
v -0.53983568 -0.38068973 0.18623578
|
| 49 |
+
v -0.44586054 -0.45745935 0.09019105
|
| 50 |
+
v -0.44957825 -0.46648842 0.10285426
|
| 51 |
+
v -0.39381275 -0.80768691 0.31225628
|
| 52 |
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v -0.40646326 -0.80006439 0.32137133
|
| 53 |
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v -0.41364046 -0.79380299 0.32669356
|
| 54 |
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v -0.56472363 -0.54947407 0.38444275
|
| 55 |
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v -0.40723777 -0.78096271 0.29910365
|
| 56 |
+
v -0.46506867 -0.37905631 0.07067620
|
| 57 |
+
v -0.05405644 -0.66172473 0.00264962
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_01.obj
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.60990537 -0.00552451 0.16443290
|
| 3 |
+
v -0.60990537 0.00328466 0.16443290
|
| 4 |
+
v -0.60916100 -0.05357454 0.15433744
|
| 5 |
+
v -0.60945875 -0.05357454 0.16443290
|
| 6 |
+
v -0.60953318 0.01346668 0.16443290
|
| 7 |
+
v -0.59784729 -0.01570654 0.02142386
|
| 8 |
+
v -0.60774682 -0.05357454 0.13534125
|
| 9 |
+
v -0.60863994 -0.07256575 0.15433744
|
| 10 |
+
v -0.60923544 -0.06249813 0.16443290
|
| 11 |
+
v -0.60863994 0.02227586 0.16443290
|
| 12 |
+
v -0.59836835 0.00248383 0.03856823
|
| 13 |
+
v -0.59926148 -0.00438046 0.04364583
|
| 14 |
+
v -0.59643311 0.00328466 0.02142386
|
| 15 |
+
v -0.59509331 -0.01570654 0.00248740
|
| 16 |
+
v -0.59367906 -0.18651296 0.02142386
|
| 17 |
+
v -0.60722576 -0.07256575 0.13534125
|
| 18 |
+
v -0.60893769 -0.07256575 0.16443290
|
| 19 |
+
v -0.59472112 0.02227586 0.04042005
|
| 20 |
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v -0.60633257 0.03245789 0.16443290
|
| 21 |
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v -0.53405874 0.26893266 -0.03550497
|
| 22 |
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v -0.51277114 0.17409107 -0.24422406
|
| 23 |
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v -0.51262226 0.15509986 -0.26316052
|
| 24 |
+
v -0.59271150 0.00328466 0.00248740
|
| 25 |
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v -0.56680898 0.04126707 -0.09243378
|
| 26 |
+
v -0.56889310 0.02227586 -0.09243378
|
| 27 |
+
v -0.59047851 -0.01570654 -0.01650879
|
| 28 |
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v -0.58057899 -0.04099001 -0.06579134
|
| 29 |
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v -0.57871818 -0.05357454 -0.07648415
|
| 30 |
+
v -0.58080230 -0.05357454 -0.06698606
|
| 31 |
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v -0.58348185 -0.05357454 -0.05444143
|
| 32 |
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v -0.58095117 -0.07256575 -0.06734450
|
| 33 |
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v -0.58355629 -0.07256575 -0.05444143
|
| 34 |
+
v -0.58087674 -0.09155694 -0.06752369
|
| 35 |
+
v -0.59137164 -0.16752175 0.00248740
|
| 36 |
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v -0.59070182 -0.18651296 0.00248740
|
| 37 |
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v -0.59144607 -0.20550414 0.02142386
|
| 38 |
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v -0.59926148 -0.16912341 0.16443290
|
| 39 |
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v -0.60075016 -0.15493722 0.16443290
|
| 40 |
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v -0.59062738 0.09824067 0.16443290
|
| 41 |
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v -0.53577073 0.26893266 -0.01650879
|
| 42 |
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v -0.53093263 0.28792387 -0.01650879
|
| 43 |
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v -0.52750876 0.28952554 -0.03669969
|
| 44 |
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v -0.52557352 0.28369091 -0.05444143
|
| 45 |
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v -0.51239895 0.19308228 -0.22522787
|
| 46 |
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v -0.50770972 0.17477749 -0.26387734
|
| 47 |
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v -0.50748641 0.15509986 -0.28245541
|
| 48 |
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v -0.50517904 0.14869319 -0.29386505
|
| 49 |
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v -0.56375730 0.02250467 -0.11274418
|
| 50 |
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v -0.57447552 -0.05357454 -0.09243378
|
| 51 |
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v -0.57484770 -0.07256575 -0.09243378
|
| 52 |
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v -0.57879262 -0.07256575 -0.07684259
|
| 53 |
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v -0.57886706 -0.09155694 -0.07696205
|
| 54 |
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v -0.58057899 -0.10368385 -0.06632897
|
| 55 |
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v -0.58132330 -0.18159354 -0.02851578
|
| 56 |
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v -0.58757559 -0.20550414 0.00248740
|
| 57 |
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v -0.57827156 -0.11020492 -0.07295972
|
| 58 |
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v -0.59181826 -0.20550414 0.04042005
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| 59 |
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v -0.59874048 -0.17347080 0.16443290
|
| 60 |
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v -0.58318416 -0.22003356 0.00248740
|
| 61 |
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v -0.58437504 -0.22575382 0.02255885
|
| 62 |
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v -0.58653359 -0.22449535 0.04042005
|
| 63 |
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v -0.58556597 0.11757509 0.16443290
|
| 64 |
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v -0.53145368 0.28792387 0.00248740
|
| 65 |
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v -0.52579683 0.30291091 0.00248740
|
| 66 |
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v -0.44332579 0.51558946 0.04042005
|
| 67 |
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v -0.43737119 0.51558946 -0.01650879
|
| 68 |
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v -0.52304278 0.29696186 -0.04380832
|
| 69 |
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v -0.50264836 0.23621288 -0.20623168
|
| 70 |
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v -0.50480686 0.22294193 -0.21734267
|
| 71 |
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v -0.51105915 0.21195906 -0.20623168
|
| 72 |
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v -0.44652634 0.40919300 -0.15593360
|
| 73 |
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v -0.50748641 0.19331107 -0.24410460
|
| 74 |
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v -0.50361593 0.18164179 -0.27062761
|
| 75 |
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v -0.50562561 0.16894286 -0.27630256
|
| 76 |
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v -0.50562561 0.18713322 -0.25796346
|
| 77 |
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v -0.49557727 0.17409107 -0.30115289
|
| 78 |
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v -0.48686868 0.18747644 -0.31501176
|
| 79 |
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v -0.48456125 0.17763762 -0.32767590
|
| 80 |
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v -0.49193004 0.15509986 -0.32008935
|
| 81 |
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v -0.48642206 0.14045604 -0.33143931
|
| 82 |
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v -0.50517904 0.14068487 -0.29386505
|
| 83 |
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v -0.56941416 -0.07256575 -0.11142997
|
| 84 |
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v -0.57968581 -0.19429247 -0.02469267
|
| 85 |
+
v -0.58087674 -0.21625821 -0.00862358
|
| 86 |
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v -0.57090278 -0.11054815 -0.09243378
|
| 87 |
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v -0.56323625 -0.08766716 -0.12403438
|
| 88 |
+
v -0.59233932 -0.20550414 0.16443290
|
| 89 |
+
v -0.59464674 -0.19532212 0.16443290
|
| 90 |
+
v -0.59658198 -0.18651296 0.16443290
|
| 91 |
+
v -0.59762398 -0.18033508 0.16443290
|
| 92 |
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v -0.58675690 -0.22449535 0.05941623
|
| 93 |
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v -0.57737844 -0.22952916 0.00248740
|
| 94 |
+
v -0.57953693 -0.23296131 0.01694363
|
| 95 |
+
v -0.57700625 -0.24577464 0.04042005
|
| 96 |
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v -0.57789944 -0.24749073 0.05941623
|
| 97 |
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v -0.54701000 -0.33661207 0.16443290
|
| 98 |
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v -0.58162105 0.13061724 0.16443290
|
| 99 |
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v -0.51425982 0.33597389 0.16443290
|
| 100 |
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v -0.49096247 0.40198548 0.16443290
|
| 101 |
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v -0.52579683 0.30382616 0.02142386
|
| 102 |
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v -0.48791074 0.40965059 0.16443290
|
| 103 |
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v -0.48634762 0.41342594 0.16443290
|
| 104 |
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v -0.41608353 0.57336390 0.16443290
|
| 105 |
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v -0.43491489 0.53458067 0.04042005
|
| 106 |
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v -0.43193759 0.53194936 0.00248740
|
| 107 |
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v -0.43074666 0.52931806 -0.01650879
|
| 108 |
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v -0.42933248 0.52680112 -0.02827686
|
| 109 |
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v -0.43245865 0.51581831 -0.03496734
|
| 110 |
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v -0.49981988 0.22992063 -0.22427213
|
| 111 |
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v -0.49557727 0.19308228 -0.28215670
|
| 112 |
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v -0.50138300 0.19331107 -0.26387734
|
| 113 |
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v -0.48538006 0.24067467 -0.25396113
|
| 114 |
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v -0.41012893 0.50700909 -0.10354476
|
| 115 |
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v -0.40692837 0.50243293 -0.11620888
|
| 116 |
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v -0.43037453 0.41399802 -0.18138135
|
| 117 |
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v -0.42590861 0.35027451 -0.26799919
|
| 118 |
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v -0.44756840 0.24090350 -0.34900180
|
| 119 |
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v -0.45702130 0.23095027 -0.33908554
|
| 120 |
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v -0.46431571 0.21664965 -0.33908554
|
| 121 |
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v -0.48210501 0.19353990 -0.32086590
|
| 122 |
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v -0.48418907 0.20017537 -0.30754472
|
| 123 |
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v -0.48910167 0.19353990 -0.30121268
|
| 124 |
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v -0.47488504 0.19308228 -0.33908554
|
| 125 |
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v -0.46431571 0.19308228 -0.36262169
|
| 126 |
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v -0.48091408 0.17237501 -0.33723373
|
| 127 |
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v -0.48612431 0.15509986 -0.33108087
|
| 128 |
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v -0.47086569 0.17409107 -0.35688700
|
| 129 |
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v -0.49096247 0.13496461 -0.32182170
|
| 130 |
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v -0.46565545 0.17409107 -0.36638510
|
| 131 |
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v -0.45940311 0.17409107 -0.37707791
|
| 132 |
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v -0.44898264 0.16082012 -0.38794992
|
| 133 |
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v -0.48374251 0.11723186 -0.32761617
|
| 134 |
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v -0.48977154 0.11723186 -0.31811808
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| 135 |
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v -0.50145738 0.13507902 -0.30055553
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| 136 |
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v -0.56383174 -0.07256575 -0.12606541
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| 137 |
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v -0.56011013 -0.05357454 -0.13735559
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| 138 |
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v -0.57804825 -0.20550414 -0.02146692
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| 139 |
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v -0.56859535 -0.20653378 -0.03681916
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 150 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 199 |
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| 220 |
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|
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| 1309 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_02.obj
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.73673554 -0.37905636 -0.03555817
|
| 3 |
+
v 0.73480035 -0.37905636 -0.01672964
|
| 4 |
+
v 0.70074119 -0.45237078 0.05923096
|
| 5 |
+
v 0.73178148 -0.39202855 -0.03555817
|
| 6 |
+
v 0.70197969 -0.49027458 -0.14917587
|
| 7 |
+
v 0.70228932 -0.49027458 -0.16816600
|
| 8 |
+
v 0.73611629 -0.37905636 -0.05446751
|
| 9 |
+
v 0.72241518 -0.37905636 0.08096864
|
| 10 |
+
v 0.70197969 -0.39533980 0.21115219
|
| 11 |
+
v 0.69617419 -0.41435012 0.21115219
|
| 12 |
+
v 0.69238120 -0.42292036 0.22028361
|
| 13 |
+
v 0.69168457 -0.42440067 0.22198061
|
| 14 |
+
v 0.69462601 -0.46822572 0.05923096
|
| 15 |
+
v 0.69555489 -0.50445441 -0.14917587
|
| 16 |
+
v 0.69632895 -0.50601263 -0.16816600
|
| 17 |
+
v 0.69532270 -0.50636324 -0.18715614
|
| 18 |
+
v 0.69958007 -0.49027458 -0.18715614
|
| 19 |
+
v 0.70646931 -0.45237078 -0.16816600
|
| 20 |
+
v 0.73232330 -0.37905636 -0.07208390
|
| 21 |
+
v 0.70739819 -0.37905636 0.19652572
|
| 22 |
+
v 0.70530819 -0.37905636 0.21115219
|
| 23 |
+
v 0.70004451 -0.39533980 0.22028361
|
| 24 |
+
v 0.69772232 -0.40480599 0.22036441
|
| 25 |
+
v 0.69238120 -0.42288139 0.22036441
|
| 26 |
+
v 0.69354232 -0.41384369 0.22909181
|
| 27 |
+
v 0.68990420 -0.41984286 0.23458683
|
| 28 |
+
v 0.68479533 -0.43176329 0.22909181
|
| 29 |
+
v 0.63579655 -0.55833001 0.05446322
|
| 30 |
+
v 0.64129248 -0.54866901 0.06020068
|
| 31 |
+
v 0.65143279 -0.53448918 0.05923096
|
| 32 |
+
v 0.68943970 -0.47773089 0.05923096
|
| 33 |
+
v 0.69331008 -0.46526508 0.07830193
|
| 34 |
+
v 0.69052345 -0.47928911 0.04032163
|
| 35 |
+
v 0.61559326 -0.61384177 -0.04420474
|
| 36 |
+
v 0.68897532 -0.51582946 -0.18715614
|
| 37 |
+
v 0.60916851 -0.62358065 -0.05446751
|
| 38 |
+
v 0.60940070 -0.62350271 -0.07345767
|
| 39 |
+
v 0.59020371 -0.60246669 -0.33802685
|
| 40 |
+
v 0.69315526 -0.50398695 -0.19951993
|
| 41 |
+
v 0.69408419 -0.49027458 -0.20129776
|
| 42 |
+
v 0.70074119 -0.47126425 -0.18715614
|
| 43 |
+
v 0.71382300 -0.37905636 -0.15071121
|
| 44 |
+
v 0.70468894 -0.37905636 0.21389970
|
| 45 |
+
v 0.69787707 -0.39537874 0.23022315
|
| 46 |
+
v 0.69214895 -0.40718231 0.24113238
|
| 47 |
+
v 0.63045543 -0.37909531 0.38448780
|
| 48 |
+
v 0.50079840 -0.62112645 0.38448780
|
| 49 |
+
v 0.67326159 -0.44376160 0.24121318
|
| 50 |
+
v 0.67473234 -0.44547565 0.23022315
|
| 51 |
+
v 0.49716025 -0.62767100 0.38448780
|
| 52 |
+
v 0.56318861 -0.61964614 0.15426254
|
| 53 |
+
v 0.59848627 -0.63421549 -0.03943700
|
| 54 |
+
v 0.59987964 -0.63561791 -0.07345767
|
| 55 |
+
v 0.59926033 -0.63503362 -0.09252861
|
| 56 |
+
v 0.59631889 -0.63234563 -0.13875144
|
| 57 |
+
v 0.58230816 -0.61952928 -0.32008720
|
| 58 |
+
v 0.58006335 -0.61672444 -0.33907734
|
| 59 |
+
v 0.59964739 -0.63534522 -0.05446751
|
| 60 |
+
v 0.57805078 -0.61430921 -0.34958253
|
| 61 |
+
v 0.58192115 -0.60355745 -0.35677456
|
| 62 |
+
v 0.59670590 -0.59506516 -0.33091565
|
| 63 |
+
v 0.59546740 -0.58505353 -0.34449153
|
| 64 |
+
v 0.57913447 -0.59689604 -0.37043127
|
| 65 |
+
v 0.58950703 -0.58505353 -0.35798670
|
| 66 |
+
v 0.68820120 -0.49027458 -0.21075242
|
| 67 |
+
v 0.68874308 -0.47126425 -0.21131810
|
| 68 |
+
v 0.69431639 -0.47126425 -0.20170179
|
| 69 |
+
v 0.58099228 -0.58505353 -0.37245152
|
| 70 |
+
v 0.70035413 -0.45237078 -0.18715614
|
| 71 |
+
v 0.71320375 -0.37905636 -0.15232738
|
| 72 |
+
v 0.70298600 -0.37905636 0.22028361
|
| 73 |
+
v 0.70298600 -0.37909531 0.22036441
|
| 74 |
+
v 0.70012194 -0.37909531 0.23022315
|
| 75 |
+
v 0.69950269 -0.37909531 0.23216255
|
| 76 |
+
v 0.69315526 -0.39537874 0.24347583
|
| 77 |
+
v -0.05397903 -0.37909531 0.38448780
|
| 78 |
+
v 0.69416157 -0.37909531 0.24606174
|
| 79 |
+
v 0.49452841 -0.63016412 0.38448780
|
| 80 |
+
v 0.54151456 -0.63437132 0.19216202
|
| 81 |
+
v 0.55537046 -0.62911233 0.15426254
|
| 82 |
+
v 0.55730564 -0.63141071 0.13890880
|
| 83 |
+
v 0.58764928 -0.64321425 -0.05365942
|
| 84 |
+
v 0.58780409 -0.64321425 -0.05446751
|
| 85 |
+
v 0.54375937 -0.63647495 0.17325269
|
| 86 |
+
v 0.53462532 -0.64321425 0.17325269
|
| 87 |
+
v 0.53083238 -0.64598011 0.17317187
|
| 88 |
+
v 0.52045982 -0.65151179 0.18286897
|
| 89 |
+
v 0.58695259 -0.64457769 -0.07329604
|
| 90 |
+
v 0.58811371 -0.64321425 -0.09083163
|
| 91 |
+
v 0.58795890 -0.64321425 -0.09252861
|
| 92 |
+
v 0.58695259 -0.64212349 -0.11119554
|
| 93 |
+
v 0.58881040 -0.63877333 -0.13164025
|
| 94 |
+
v 0.57325154 -0.62899547 -0.32008720
|
| 95 |
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_03.obj
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26975187 -0.37905631 0.78539576
|
| 3 |
+
v -0.28602773 -0.37905631 0.78669852
|
| 4 |
+
v -0.26975187 -0.39531508 0.77884255
|
| 5 |
+
v -0.26975187 -0.37905631 0.38450390
|
| 6 |
+
v -0.30503995 -0.37905631 0.78780390
|
| 7 |
+
v -0.26975187 -0.40858297 0.77311834
|
| 8 |
+
v -0.26975187 -0.70410418 0.38450390
|
| 9 |
+
v -0.58155227 -0.37905631 0.38450390
|
| 10 |
+
v -0.32401665 -0.37905631 0.78776441
|
| 11 |
+
v -0.30503995 -0.39531508 0.78010583
|
| 12 |
+
v -0.28602773 -0.40899659 0.77335522
|
| 13 |
+
v -0.26975187 -0.41809640 0.76798627
|
| 14 |
+
v -0.46929132 -0.70410418 0.38450390
|
| 15 |
+
v -0.26975187 -0.70410418 0.50609396
|
| 16 |
+
v -0.58233408 -0.37905631 0.38647776
|
| 17 |
+
v -0.57803411 -0.49022676 0.38450390
|
| 18 |
+
v -0.34299333 -0.37905631 0.78717226
|
| 19 |
+
v -0.30503995 -0.40918752 0.77339470
|
| 20 |
+
v -0.30503995 -0.41866912 0.76842056
|
| 21 |
+
v -0.28602773 -0.41847822 0.76818368
|
| 22 |
+
v -0.26975187 -0.43327337 0.75953816
|
| 23 |
+
v -0.56474331 -0.54943917 0.38450390
|
| 24 |
+
v -0.46943346 -0.70410418 0.38474077
|
| 25 |
+
v -0.56200697 -0.65243252 0.46645876
|
| 26 |
+
v -0.56122515 -0.63257839 0.44853606
|
| 27 |
+
v -0.34299333 -0.67276393 0.54604497
|
| 28 |
+
v -0.55173685 -0.65488249 0.56712583
|
| 29 |
+
v -0.57071352 -0.65469159 0.56641525
|
| 30 |
+
v -0.51374792 -0.68036830 0.51497634
|
| 31 |
+
v -0.49111095 -0.69045448 0.48900029
|
| 32 |
+
v -0.43766351 -0.70410418 0.45615518
|
| 33 |
+
v -0.26975187 -0.57362048 0.65484438
|
| 34 |
+
v -0.28602773 -0.57444777 0.65602870
|
| 35 |
+
v -0.30503995 -0.59328371 0.63672430
|
| 36 |
+
v -0.38094667 -0.61402877 0.61994645
|
| 37 |
+
v -0.38094667 -0.62233310 0.60984028
|
| 38 |
+
v -0.38094667 -0.63133751 0.59882610
|
| 39 |
+
v -0.58730924 -0.37905631 0.39911049
|
| 40 |
+
v -0.57732334 -0.50918999 0.38450390
|
| 41 |
+
v -0.58005974 -0.50918999 0.39228092
|
| 42 |
+
v -0.58801995 -0.37905631 0.40108435
|
| 43 |
+
v -0.35628410 -0.37905631 0.78614584
|
| 44 |
+
v -0.38094667 -0.45226843 0.74556320
|
| 45 |
+
v -0.36197000 -0.45226843 0.74702385
|
| 46 |
+
v -0.30503995 -0.43327337 0.76024876
|
| 47 |
+
v -0.36197000 -0.46900445 0.73774669
|
| 48 |
+
v -0.26975187 -0.44453677 0.75322178
|
| 49 |
+
v -0.56612927 -0.54660741 0.38450390
|
| 50 |
+
v -0.56421026 -0.64015097 0.45927389
|
| 51 |
+
v -0.57806963 -0.62850575 0.47119603
|
| 52 |
+
v -0.58137460 -0.61584234 0.46582712
|
| 53 |
+
v -0.56477889 -0.65548698 0.47699918
|
| 54 |
+
v -0.47348466 -0.70410418 0.39528120
|
| 55 |
+
v -0.58361342 -0.65462790 0.51497634
|
| 56 |
+
v -0.58077045 -0.65224162 0.50423853
|
| 57 |
+
v -0.59356373 -0.64209181 0.51438418
|
| 58 |
+
v -0.60131075 -0.63579195 0.52030578
|
| 59 |
+
v -0.58172993 -0.63506014 0.48382876
|
| 60 |
+
v -0.55173685 -0.64746896 0.57660040
|
| 61 |
+
v -0.55173685 -0.63798733 0.58714083
|
| 62 |
+
v -0.57071352 -0.64587807 0.57588980
|
| 63 |
+
v -0.58411089 -0.65332339 0.56424400
|
| 64 |
+
v -0.57071352 -0.65990963 0.55291402
|
| 65 |
+
v -0.51374792 -0.68584093 0.49598776
|
| 66 |
+
v -0.45681790 -0.70410418 0.45019410
|
| 67 |
+
v -0.26975187 -0.56547520 0.66404258
|
| 68 |
+
v -0.26975187 -0.55666174 0.67359608
|
| 69 |
+
v -0.38094667 -0.59627459 0.63980352
|
| 70 |
+
v -0.38094667 -0.60575622 0.62942101
|
| 71 |
+
v -0.39992335 -0.60607439 0.62961839
|
| 72 |
+
v -0.39992335 -0.61415603 0.62014385
|
| 73 |
+
v -0.39992335 -0.62239679 0.60984028
|
| 74 |
+
v -0.57455148 -0.52369880 0.38450390
|
| 75 |
+
v -0.59999589 -0.59697455 0.48465779
|
| 76 |
+
v -0.59427444 -0.37905631 0.42007293
|
| 77 |
+
v -0.59342159 -0.37905631 0.41734901
|
| 78 |
+
v -0.60546858 -0.58507480 0.49598776
|
| 79 |
+
v -0.61193626 -0.58507480 0.51497634
|
| 80 |
+
v -0.36253860 -0.37905631 0.78563264
|
| 81 |
+
v -0.38094667 -0.46763631 0.73699661
|
| 82 |
+
v -0.38606397 -0.37905631 0.78330350
|
| 83 |
+
v -0.40365474 -0.37905631 0.78140859
|
| 84 |
+
v -0.41890008 -0.37905631 0.77975053
|
| 85 |
+
v -0.43787675 -0.37905631 0.77757928
|
| 86 |
+
v -0.44111062 -0.37905631 0.77710557
|
| 87 |
+
v -0.45649804 -0.37905631 0.77481584
|
| 88 |
+
v -0.32401665 -0.49022676 0.72724573
|
| 89 |
+
v -0.26975187 -0.50642186 0.71824491
|
| 90 |
+
v -0.34299333 -0.51466262 0.71184960
|
| 91 |
+
v -0.32401665 -0.50607188 0.71808702
|
| 92 |
+
v -0.57366305 -0.52824868 0.38450390
|
| 93 |
+
v -0.59374140 -0.60362442 0.47778874
|
| 94 |
+
v -0.58467951 -0.62252406 0.47731500
|
| 95 |
+
v -0.47455076 -0.70410418 0.40179495
|
| 96 |
+
v -0.54800545 -0.67432298 0.49598776
|
| 97 |
+
v -0.58759352 -0.65634605 0.53392544
|
| 98 |
+
v -0.54605092 -0.67324116 0.48098639
|
| 99 |
+
v -0.59708189 -0.64896443 0.53392544
|
| 100 |
+
v -0.60475781 -0.63948279 0.53392544
|
| 101 |
+
v -0.61847504 -0.63296019 0.56061208
|
| 102 |
+
v -0.61165197 -0.62306491 0.53392544
|
| 103 |
+
v -0.59761493 -0.60963796 0.49002670
|
| 104 |
+
v -0.59793474 -0.62946025 0.50763357
|
| 105 |
+
v -0.57071352 -0.63639650 0.58544330
|
| 106 |
+
v -0.39992335 -0.59659275 0.64004038
|
| 107 |
+
v -0.45024354 -0.59481097 0.63854025
|
| 108 |
+
v -0.47579457 -0.59369736 0.63743490
|
| 109 |
+
v -0.49477125 -0.59261553 0.63652692
|
| 110 |
+
v -0.55173685 -0.62777394 0.59661537
|
| 111 |
+
v -0.58332908 -0.63381927 0.58283781
|
| 112 |
+
v -0.59004558 -0.64199639 0.57213945
|
| 113 |
+
v -0.60866687 -0.63661919 0.56645473
|
| 114 |
+
v -0.61847504 -0.63296019 0.56286230
|
| 115 |
+
v -0.59704636 -0.65026894 0.55291402
|
| 116 |
+
v -0.58755800 -0.65513702 0.55291402
|
| 117 |
+
v -0.53272459 -0.68138644 0.49598776
|
| 118 |
+
v -0.47312928 -0.70410418 0.43692974
|
| 119 |
+
v -0.26975187 -0.54721195 0.68338646
|
| 120 |
+
v -0.32806785 -0.53865303 0.69613763
|
| 121 |
+
v -0.36197000 -0.55825263 0.67801754
|
| 122 |
+
v -0.61694699 -0.62306491 0.54900576
|
| 123 |
+
v -0.59743721 -0.37905631 0.43306097
|
| 124 |
+
v -0.61659161 -0.58507480 0.53250427
|
| 125 |
+
v -0.61829737 -0.59592458 0.54272888
|
| 126 |
+
v -0.45649804 -0.39385146 0.76648617
|
| 127 |
+
v -0.45681790 -0.41163745 0.75626153
|
| 128 |
+
v -0.39992335 -0.46483636 0.73522014
|
| 129 |
+
v -0.51026535 -0.55876169 0.65847628
|
| 130 |
+
v -0.49477125 -0.57021602 0.65381796
|
| 131 |
+
v -0.36936166 -0.53725307 0.69495331
|
| 132 |
+
v -0.35671056 -0.53839850 0.69574285
|
| 133 |
+
v -0.45770628 -0.37905631 0.77461850
|
| 134 |
+
v -0.26975187 -0.50775822 0.71741590
|
| 135 |
+
v -0.34299333 -0.52818505 0.70344091
|
| 136 |
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v -0.32401665 -0.51555352 0.71216539
|
| 137 |
+
v -0.26975187 -0.51593532 0.71232332
|
| 138 |
+
v -0.47611438 -0.70410418 0.41509879
|
| 139 |
+
v -0.57071352 -0.66340957 0.53392544
|
| 140 |
+
v -0.63276084 -0.37905631 0.68303116
|
| 141 |
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v -0.61886594 -0.62306491 0.55851979
|
| 142 |
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v -0.51374792 -0.59051558 0.63518468
|
| 143 |
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v -0.57181514 -0.62258769 0.59582584
|
| 144 |
+
v -0.38094667 -0.55790262 0.67750435
|
| 145 |
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v -0.44629896 -0.57552953 0.65725249
|
| 146 |
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v -0.51374792 -0.60152447 0.62571015
|
| 147 |
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v -0.49477125 -0.58313396 0.64430395
|
| 148 |
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v -0.59598021 -0.63038296 0.58003492
|
| 149 |
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v -0.60866687 -0.37905631 0.73210143
|
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_04.obj
ADDED
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.05841404 0.33008810 1.11443018
|
| 3 |
+
v -0.03936005 0.33184950 1.11387224
|
| 4 |
+
v -0.04113055 0.34370968 1.11368626
|
| 5 |
+
v -0.05681215 0.34558850 1.11396523
|
| 6 |
+
v -0.07729939 0.33971716 1.11368626
|
| 7 |
+
v -0.08927138 0.33678147 1.11322137
|
| 8 |
+
v -0.08927138 0.33267150 1.11322137
|
| 9 |
+
v -0.07729939 0.33067522 1.11368626
|
| 10 |
+
v -0.13429274 0.30683745 1.10624746
|
| 11 |
+
v -0.07729939 0.32128103 1.11164061
|
| 12 |
+
v 0.09351196 -0.17989937 0.98081035
|
| 13 |
+
v 0.05557262 0.25751791 1.09462435
|
| 14 |
+
v 0.07445800 0.25845733 1.09415940
|
| 15 |
+
v 0.08432222 0.25904448 1.09388044
|
| 16 |
+
v -0.02721948 0.33419804 1.11312839
|
| 17 |
+
v -0.02721948 0.33654659 1.11312839
|
| 18 |
+
v -0.04871843 0.35451299 1.11266344
|
| 19 |
+
v -0.04947721 0.35451299 1.11266344
|
| 20 |
+
v -0.06212366 0.35251672 1.11229154
|
| 21 |
+
v -0.07729939 0.34922878 1.11117567
|
| 22 |
+
v -0.05841404 0.45878857 1.07983967
|
| 23 |
+
v -0.11532306 0.36378976 1.10057533
|
| 24 |
+
v -0.13429274 0.34488396 1.10345789
|
| 25 |
+
v -0.13429274 0.32586070 1.10745632
|
| 26 |
+
v -0.15326240 0.30683745 1.10317892
|
| 27 |
+
v -0.37423803 0.20021333 1.05659334
|
| 28 |
+
v -0.36192882 0.19798221 1.05724421
|
| 29 |
+
v 0.07850484 -0.17872510 0.98062437
|
| 30 |
+
v 0.09351196 -0.18941099 0.97709089
|
| 31 |
+
v 0.11248165 -0.18929356 0.97774182
|
| 32 |
+
v 0.15042100 -0.18800186 0.97774182
|
| 33 |
+
v 0.13145131 -0.17919480 0.98043840
|
| 34 |
+
v 0.15042100 -0.17849025 0.98015943
|
| 35 |
+
v 0.15042100 0.21195606 1.06710063
|
| 36 |
+
v 0.14848185 0.23285816 1.07174993
|
| 37 |
+
v 0.14097831 0.24037350 1.07472542
|
| 38 |
+
v 0.08499671 0.26890840 1.09415940
|
| 39 |
+
v 0.05557262 0.28793165 1.09927359
|
| 40 |
+
v 0.05557262 0.30683745 1.09945957
|
| 41 |
+
v 0.05557262 0.32586070 1.09759984
|
| 42 |
+
v 0.06568979 0.33595947 1.09406642
|
| 43 |
+
v -0.03936005 0.43976534 1.08504679
|
| 44 |
+
v -0.04661068 0.41346157 1.09443837
|
| 45 |
+
v -0.05234374 0.41346157 1.09443837
|
| 46 |
+
v -0.05681215 0.36202836 1.11005991
|
| 47 |
+
v -0.04509312 0.47088363 1.07612026
|
| 48 |
+
v -0.05841404 0.47053136 1.07593428
|
| 49 |
+
v -0.06844688 0.46853503 1.07491140
|
| 50 |
+
v -0.15402119 0.34547108 1.09787875
|
| 51 |
+
v -0.15326240 0.32586070 1.10290001
|
| 52 |
+
v -0.13403980 0.36437691 1.09694897
|
| 53 |
+
v -0.14820381 0.35850554 1.09536815
|
| 54 |
+
v -0.37145582 0.24049096 1.05584949
|
| 55 |
+
v -0.37474387 0.21219091 1.05668628
|
| 56 |
+
v -0.38427087 0.21219091 1.05408274
|
| 57 |
+
v -0.60861890 0.09816886 0.98936498
|
| 58 |
+
v -0.63779001 0.06928171 0.98006644
|
| 59 |
+
v -0.43215875 0.04685306 0.99987232
|
| 60 |
+
v -0.17223208 -0.10650721 0.98211209
|
| 61 |
+
v -0.17223208 -0.09159393 0.98676139
|
| 62 |
+
v -0.17223208 -0.11601882 0.97802079
|
| 63 |
+
v -0.20469128 -0.14044374 0.96174833
|
| 64 |
+
v 0.15042100 -0.37893894 0.87917739
|
| 65 |
+
v 0.15042100 0.23262329 1.07100607
|
| 66 |
+
v 0.14097831 0.24060838 1.07472542
|
| 67 |
+
v 0.08499671 0.28112086 1.09415940
|
| 68 |
+
v 0.07066404 0.30683745 1.09564712
|
| 69 |
+
v 0.06762891 0.32586070 1.09471728
|
| 70 |
+
v 0.15042100 0.32574328 1.06468302
|
| 71 |
+
v 0.15042100 0.34535365 1.05994079
|
| 72 |
+
v 0.15042100 0.34570593 1.05984780
|
| 73 |
+
v 0.15042100 0.34617565 1.05966182
|
| 74 |
+
v 0.15042100 0.76727053 0.88364071
|
| 75 |
+
v -0.01179079 0.44833756 1.07444651
|
| 76 |
+
v -0.03893851 0.45925827 1.07863086
|
| 77 |
+
v 0.13887058 0.77149793 0.88475653
|
| 78 |
+
v -0.04281674 0.71724644 0.94361619
|
| 79 |
+
v -0.05841404 0.71806841 0.94417413
|
| 80 |
+
v -0.07215651 0.71665932 0.94324429
|
| 81 |
+
v -0.08480295 0.71313647 0.94110559
|
| 82 |
+
v -0.20292081 0.56459078 0.98081035
|
| 83 |
+
v -0.18226492 0.50646417 1.01800446
|
| 84 |
+
v -0.20342665 0.45127323 1.03790333
|
| 85 |
+
v -0.14027873 0.37118770 1.09276456
|
| 86 |
+
v -0.16093458 0.35228187 1.09295054
|
| 87 |
+
v -0.37895934 0.24812372 1.05045633
|
| 88 |
+
v -0.17695341 0.38786241 1.07323770
|
| 89 |
+
v -0.27711328 0.33595947 1.05594247
|
| 90 |
+
v -0.26708044 0.32586070 1.06356726
|
| 91 |
+
v -0.52607970 0.20620212 1.00005830
|
| 92 |
+
v -0.53872620 0.19657308 0.99745471
|
| 93 |
+
v -0.53248726 0.19140626 1.00145309
|
| 94 |
+
v -0.60861890 0.11719210 0.98741226
|
| 95 |
+
v -0.58956491 0.11719210 0.99485112
|
| 96 |
+
v -0.63719984 0.08889208 0.97988046
|
| 97 |
+
v -0.63770568 0.07914561 0.98006644
|
| 98 |
+
v -0.64714840 0.07914561 0.97671899
|
| 99 |
+
v -0.66561222 0.06023979 0.96918714
|
| 100 |
+
v -0.65912038 0.02736009 0.96239925
|
| 101 |
+
v -0.41875352 0.03546260 0.99782661
|
| 102 |
+
v -0.66561222 -0.01221296 0.94529000
|
| 103 |
+
v -0.51377049 -0.11684082 0.92157873
|
| 104 |
+
v -0.51377049 -0.12952298 0.91488378
|
| 105 |
+
v -0.51377049 -0.14314456 0.90670111
|
| 106 |
+
v -0.45770458 -0.37893894 0.77456900
|
| 107 |
+
v 0.15042100 -0.37893894 0.16458562
|
| 108 |
+
v 0.15042100 0.24835857 1.07063411
|
| 109 |
+
v 0.15042100 0.78124439 0.87517908
|
| 110 |
+
v 0.15042100 0.79146060 0.86681038
|
| 111 |
+
v -0.02039039 0.73720912 0.92678591
|
| 112 |
+
v -0.00142070 0.73662194 0.92539113
|
| 113 |
+
v -0.05841404 0.72746260 0.93561950
|
| 114 |
+
v -0.42870203 0.67732109 0.84737650
|
| 115 |
+
v -0.08927138 0.73462572 0.92390335
|
| 116 |
+
v -0.48502088 0.54404092 0.88484952
|
| 117 |
+
v -0.46908639 0.37611967 0.96212028
|
| 118 |
+
v -0.39303908 0.26291958 1.03864719
|
| 119 |
+
v -0.53248726 0.21230834 0.99531601
|
| 120 |
+
v -0.55289022 0.21301291 0.98536661
|
| 121 |
+
v -0.64655822 0.11719210 0.96983806
|
| 122 |
+
v -0.64605232 0.11073360 0.97169779
|
| 123 |
+
v -0.63517641 0.11073360 0.97671899
|
| 124 |
+
v -0.63483919 0.10157426 0.97885763
|
| 125 |
+
v -0.61477351 0.11073360 0.98592454
|
| 126 |
+
v -0.62817868 0.09640745 0.98248405
|
| 127 |
+
v -0.64478769 0.09640745 0.97541720
|
| 128 |
+
v -0.67766848 0.07339167 0.96342208
|
| 129 |
+
v -0.67749986 0.06023979 0.96314317
|
| 130 |
+
v -0.67564505 0.04955389 0.96137643
|
| 131 |
+
v -0.66552788 0.04239081 0.96416594
|
| 132 |
+
v -0.66561222 0.00328747 0.95151995
|
| 133 |
+
v -0.67783709 -0.00892499 0.94361619
|
| 134 |
+
v -0.66561222 -0.13410265 0.88243191
|
| 135 |
+
v -0.52818746 -0.14091344 0.90539926
|
| 136 |
+
v -0.58948057 -0.37893894 0.73821175
|
| 137 |
+
v -0.59942913 -0.21501018 0.84709754
|
| 138 |
+
v -0.60684837 -0.22264297 0.84086748
|
| 139 |
+
v -0.62151823 -0.23555998 0.82915138
|
| 140 |
+
v -0.60904041 -0.32057748 0.77717259
|
| 141 |
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v -0.60305447 -0.33044137 0.77215139
|
| 142 |
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v 0.15042100 0.11073360 0.16449263
|
| 143 |
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v -0.52498368 -0.37893894 0.16458562
|
| 144 |
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v 0.15042100 0.79650997 0.85639602
|
| 145 |
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v 0.13145131 0.79122576 0.86653141
|
| 146 |
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v -0.03936005 0.73709169 0.92678591
|
| 147 |
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v -0.05841404 0.73662194 0.92604200
|
| 148 |
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v -0.07729939 0.73556512 0.92492618
|
| 149 |
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v -0.41377927 0.69834058 0.83082508
|
| 150 |
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v -0.42650999 0.69481779 0.82543192
|
| 151 |
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v -0.43190580 0.68119621 0.83742704
|
| 152 |
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v -0.44151714 0.66757463 0.83789199
|
| 153 |
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v -0.50508662 0.54545007 0.86746130
|
| 154 |
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v -0.50424349 0.52513512 0.88494251
|
| 155 |
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v 0.12082830 0.79099091 0.86634549
|
| 156 |
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v -0.07729939 0.74096676 0.91339601
|
| 157 |
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v -0.09593184 0.73720912 0.91376797
|
| 158 |
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v -0.36732464 0.71407587 0.82552491
|
| 159 |
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v -0.39978386 0.70068919 0.83380062
|
| 160 |
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v -0.49471655 0.52983221 0.88689517
|
| 161 |
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v -0.50289452 0.39079807 0.94119858
|
| 162 |
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v -0.50820606 0.37811594 0.94361619
|
| 163 |
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v -0.52093684 0.36977858 0.94082668
|
| 164 |
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v -0.56005651 0.21994113 0.97932258
|
| 165 |
+
v -0.61941053 0.18541747 0.96146936
|
| 166 |
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v -0.65684395 0.12787801 0.96137643
|
| 167 |
+
v -0.65912038 0.11719210 0.96314317
|
| 168 |
+
v -0.65675967 0.16604194 0.94277940
|
| 169 |
+
v -0.66434758 0.15512118 0.93245804
|
| 170 |
+
v -0.68036641 0.07949790 0.95179892
|
| 171 |
+
v -0.68407603 0.06023979 0.95133397
|
| 172 |
+
v -0.69267563 0.02231071 0.93617738
|
| 173 |
+
v -0.69048359 0.00328747 0.93785114
|
| 174 |
+
v -0.68104087 0.00328747 0.94529000
|
| 175 |
+
v -0.69453044 -0.06482046 0.90456242
|
| 176 |
+
v -0.69857728 -0.09159393 0.88912686
|
| 177 |
+
v -0.69554212 -0.10345409 0.88596539
|
| 178 |
+
v -0.67682535 -0.12165534 0.88550044
|
| 179 |
+
v -0.67859588 -0.14396656 0.87015788
|
| 180 |
+
v -0.66535927 -0.14960308 0.87211054
|
| 181 |
+
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+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_05.obj
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26971635 -0.77419536 0.45402340
|
| 3 |
+
v -0.26971635 -0.77419536 0.52750979
|
| 4 |
+
v -0.26971635 -0.69105925 0.45402340
|
| 5 |
+
v 0.18129193 -0.77419536 0.45402340
|
| 6 |
+
v -0.26971635 -0.69105925 0.51490283
|
| 7 |
+
v -0.25346454 -0.77419536 0.55613980
|
| 8 |
+
v 0.51988492 -0.69105925 0.45402340
|
| 9 |
+
v 0.18844945 -0.77334890 0.45402340
|
| 10 |
+
v 0.53318952 -0.77419536 0.55156470
|
| 11 |
+
v -0.24428608 -0.77419536 0.57112582
|
| 12 |
+
v -0.18239454 -0.74362663 0.65917122
|
| 13 |
+
v -0.18020516 -0.74118504 0.66175362
|
| 14 |
+
v -0.17810000 -0.73470673 0.66175362
|
| 15 |
+
v -0.16420601 -0.69105925 0.65951690
|
| 16 |
+
v 0.52249535 -0.69105925 0.45713447
|
| 17 |
+
v 0.55760930 -0.74576709 0.52472406
|
| 18 |
+
v 0.51474839 -0.69324043 0.45402340
|
| 19 |
+
v 0.20630116 -0.76946682 0.45402340
|
| 20 |
+
v 0.54902028 -0.77419536 0.55774617
|
| 21 |
+
v 0.20874314 -0.76891335 0.45402340
|
| 22 |
+
v -0.23797061 -0.77419536 0.58060137
|
| 23 |
+
v -0.18146826 -0.75591599 0.66175362
|
| 24 |
+
v -0.16538489 -0.69898631 0.66175362
|
| 25 |
+
v -0.16235346 -0.69105925 0.66175362
|
| 26 |
+
v 0.54026283 -0.69105925 0.48196206
|
| 27 |
+
v 0.56013551 -0.73311969 0.52293469
|
| 28 |
+
v 0.51104329 -0.72533918 0.48893655
|
| 29 |
+
v 0.56325111 -0.73844236 0.53220690
|
| 30 |
+
v 0.57790298 -0.76650434 0.58072338
|
| 31 |
+
v 0.57916609 -0.77419536 0.59044294
|
| 32 |
+
v 0.56864030 -0.77419536 0.57429789
|
| 33 |
+
v 0.56737726 -0.77419536 0.57293552
|
| 34 |
+
v -0.17919472 -0.77419536 0.66175362
|
| 35 |
+
v -0.18079460 -0.76350119 0.66175362
|
| 36 |
+
v 0.56510365 -0.69105925 0.66175362
|
| 37 |
+
v 0.54093649 -0.69105925 0.48344643
|
| 38 |
+
v 0.56013551 -0.72411838 0.52293469
|
| 39 |
+
v 0.57082968 -0.73693672 0.55290672
|
| 40 |
+
v 0.57882926 -0.75591599 0.57799866
|
| 41 |
+
v 0.58497634 -0.77419536 0.60912971
|
| 42 |
+
v 0.57967131 -0.77419536 0.59150030
|
| 43 |
+
v 0.57958714 -0.77419536 0.59127662
|
| 44 |
+
v 0.58733411 -0.77419536 0.66175362
|
| 45 |
+
v 0.56602993 -0.69395663 0.66175362
|
| 46 |
+
v 0.57756615 -0.72723545 0.65746319
|
| 47 |
+
v 0.56569310 -0.69105925 0.65884589
|
| 48 |
+
v 0.54868345 -0.69105925 0.50703364
|
| 49 |
+
v 0.56291428 -0.71785976 0.53324393
|
| 50 |
+
v 0.57891348 -0.74247094 0.57751064
|
| 51 |
+
v 0.58977610 -0.77419536 0.62810115
|
| 52 |
+
v 0.58750249 -0.77419536 0.66122493
|
| 53 |
+
v 0.57706093 -0.73028747 0.66175362
|
| 54 |
+
v 0.56762987 -0.69898631 0.66175362
|
| 55 |
+
v 0.57554522 -0.71695639 0.64778429
|
| 56 |
+
v 0.57040863 -0.69898631 0.64778429
|
| 57 |
+
v 0.56788247 -0.69105925 0.64778429
|
| 58 |
+
v 0.56628254 -0.69105925 0.65591780
|
| 59 |
+
v 0.57520838 -0.72296269 0.66175362
|
| 60 |
+
v 0.57866087 -0.73693672 0.66161128
|
| 61 |
+
v 0.59053392 -0.77419536 0.64778429
|
| 62 |
+
v 0.55390426 -0.69105925 0.52366670
|
| 63 |
+
v 0.55811458 -0.69105925 0.53753436
|
| 64 |
+
v 0.56880875 -0.71796559 0.55290672
|
| 65 |
+
v 0.57992397 -0.73951666 0.59084963
|
| 66 |
+
v 0.58986026 -0.77419536 0.62881285
|
| 67 |
+
v 0.57571366 -0.71544260 0.62881285
|
| 68 |
+
v 0.57057707 -0.69898631 0.62881285
|
| 69 |
+
v 0.56796670 -0.69105925 0.62881285
|
| 70 |
+
v 0.58127125 -0.73693672 0.62881285
|
| 71 |
+
v 0.55912502 -0.69105925 0.54172312
|
| 72 |
+
v 0.55979868 -0.69105925 0.54481387
|
| 73 |
+
v 0.56350372 -0.69898631 0.55290672
|
| 74 |
+
v 0.57807143 -0.72521706 0.61541285
|
| 75 |
+
v 0.58026075 -0.73568334 0.60939405
|
| 76 |
+
v 0.56653515 -0.69105925 0.60191121
|
| 77 |
+
v 0.56771403 -0.69105925 0.62088265
|
| 78 |
+
v 0.56089334 -0.69105925 0.55290672
|
| 79 |
+
v 0.56316694 -0.69105925 0.57210184
|
| 80 |
+
v 0.56704042 -0.69105925 0.60984141
|
| 81 |
+
f 1 2 5
|
| 82 |
+
f 1 5 3
|
| 83 |
+
f 1 3 7
|
| 84 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 16 32 19
|
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f 16 20 27
|
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|
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f 28 39 29
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f 29 39 40
|
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f 29 40 41
|
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f 29 41 42
|
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f 29 42 30
|
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f 35 44 45
|
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f 35 45 46
|
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|
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f 72 78 75
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f 73 75 79
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f 73 79 76
|
| 235 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_06.obj
ADDED
|
@@ -0,0 +1,1279 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.16950668 -0.09363319 -0.43738253
|
| 3 |
+
v 0.15042100 0.30695561 -0.44230016
|
| 4 |
+
v 0.30233942 0.15511264 -0.44572759
|
| 5 |
+
v 0.32133488 0.13616781 -0.44557860
|
| 6 |
+
v 0.17149196 -0.09363319 -0.43738253
|
| 7 |
+
v 0.15051123 -0.09363319 -0.43663743
|
| 8 |
+
v 0.15042100 0.38292447 -0.44289622
|
| 9 |
+
v 0.15042100 -0.09154930 -0.43633940
|
| 10 |
+
v 0.15042100 0.38756593 -0.44289622
|
| 11 |
+
v 0.22644789 0.45870384 -0.44066097
|
| 12 |
+
v 0.32133488 0.15511264 -0.44542956
|
| 13 |
+
v 0.34033033 0.13616781 -0.44468446
|
| 14 |
+
v 0.18850212 -0.09363319 -0.43663743
|
| 15 |
+
v 0.15042100 -0.09363319 -0.43470015
|
| 16 |
+
v 0.15042100 0.40319547 -0.44244921
|
| 17 |
+
v 0.15051123 0.40319547 -0.44244921
|
| 18 |
+
v 0.24539822 0.45870384 -0.44006485
|
| 19 |
+
v 0.15051123 0.66747604 -0.43455116
|
| 20 |
+
v 0.15051123 0.68642092 -0.43380606
|
| 21 |
+
v 0.35368578 0.14800834 -0.44379037
|
| 22 |
+
v 0.30233942 0.38292447 -0.43931975
|
| 23 |
+
v 0.30233942 0.40177455 -0.43872369
|
| 24 |
+
v 0.35291873 0.13616781 -0.44379037
|
| 25 |
+
v 0.35007620 0.12641120 -0.44349234
|
| 26 |
+
v 0.35928064 -0.09154930 -0.42784524
|
| 27 |
+
v 0.35932575 -0.09363319 -0.42754721
|
| 28 |
+
v 0.15042100 -0.09363319 0.97860282
|
| 29 |
+
v 0.15042100 0.66747604 -0.43455116
|
| 30 |
+
v 0.26439366 0.45870384 -0.43902172
|
| 31 |
+
v 0.20745245 0.66747604 -0.43052762
|
| 32 |
+
v 0.15042100 0.68642092 -0.43380606
|
| 33 |
+
v 0.16950668 0.70546049 -0.42948449
|
| 34 |
+
v 0.18850212 0.70546049 -0.42844135
|
| 35 |
+
v 0.20745245 0.68642092 -0.42873938
|
| 36 |
+
v 0.37827610 0.13616781 -0.44036288
|
| 37 |
+
v 0.36239392 0.13616781 -0.44274724
|
| 38 |
+
v 0.37827610 0.15511264 -0.43917077
|
| 39 |
+
v 0.22644789 0.64853121 -0.42963347
|
| 40 |
+
v 0.30233942 0.42071944 -0.43648838
|
| 41 |
+
v 0.32133488 0.38292447 -0.43455116
|
| 42 |
+
v 0.43715745 -0.09363319 -0.42009624
|
| 43 |
+
v 0.39244371 -0.09363319 -0.42501387
|
| 44 |
+
v 0.38017112 -0.09363319 -0.42635503
|
| 45 |
+
v 0.37827610 -0.09154930 -0.42665312
|
| 46 |
+
v 0.37827610 -0.09363319 -0.42650408
|
| 47 |
+
v 0.15615121 -0.09363319 0.98009302
|
| 48 |
+
v 0.19549570 -0.06587900 0.99976361
|
| 49 |
+
v 0.15042100 0.21204193 1.06712054
|
| 50 |
+
v 0.15042100 0.70707084 -0.42814327
|
| 51 |
+
v 0.16950668 0.71815354 -0.42605700
|
| 52 |
+
v 0.18850212 0.71767988 -0.42575897
|
| 53 |
+
v 0.19928576 0.71550131 -0.42471584
|
| 54 |
+
v 0.20636957 0.70470266 -0.42590802
|
| 55 |
+
v 0.21769464 0.69797728 -0.42501387
|
| 56 |
+
v 0.22022136 0.68642092 -0.42605700
|
| 57 |
+
v 0.39722641 0.13616781 -0.43201782
|
| 58 |
+
v 0.47415571 -0.09363319 -0.41160208
|
| 59 |
+
v 0.45615290 -0.09363319 -0.41756290
|
| 60 |
+
v 0.45416763 -0.09363319 -0.41800997
|
| 61 |
+
v 0.39776786 0.15331289 -0.42933544
|
| 62 |
+
v 0.23831440 0.64853121 -0.42590802
|
| 63 |
+
v 0.32291407 0.40281655 -0.43037858
|
| 64 |
+
v 0.33419402 0.38292447 -0.42739817
|
| 65 |
+
v 0.18552421 -0.09363319 0.98754399
|
| 66 |
+
v 0.20429407 -0.07857205 0.99767734
|
| 67 |
+
v 0.20934748 -0.07241499 1.00080674
|
| 68 |
+
v 0.22644789 -0.05365959 1.01064206
|
| 69 |
+
v 0.20745245 -0.05365959 1.00617150
|
| 70 |
+
v 0.23073428 0.04760065 1.03776368
|
| 71 |
+
v 0.24539822 0.04475890 1.03850878
|
| 72 |
+
v 0.24539822 0.06019896 1.04193621
|
| 73 |
+
v 0.30233942 0.06019896 1.04655581
|
| 74 |
+
v 0.32133488 0.06019896 1.04789697
|
| 75 |
+
v 0.49211340 0.00326970 1.04715193
|
| 76 |
+
v 0.15042100 0.23269179 1.07099504
|
| 77 |
+
v 0.15042100 0.70896530 -0.42739817
|
| 78 |
+
v 0.15484275 0.71625902 -0.42501387
|
| 79 |
+
v 0.15042100 0.72194252 -0.42143740
|
| 80 |
+
v 0.15042100 0.72307920 -0.42084134
|
| 81 |
+
v 0.16950668 0.72772070 -0.42069230
|
| 82 |
+
v 0.18850212 0.72715235 -0.42069230
|
| 83 |
+
v 0.20636957 0.72288978 -0.41890406
|
| 84 |
+
v 0.21196443 0.71057559 -0.42322564
|
| 85 |
+
v 0.23321586 0.67135976 -0.42277856
|
| 86 |
+
v 0.23628402 0.65866671 -0.42471584
|
| 87 |
+
v 0.22500405 0.70470266 -0.41756290
|
| 88 |
+
v 0.48390157 -0.09363319 -0.40623737
|
| 89 |
+
v 0.40670157 0.14573494 -0.42441781
|
| 90 |
+
v 0.24778957 0.64853121 -0.41950012
|
| 91 |
+
v 0.33031372 0.40992085 -0.42397074
|
| 92 |
+
v 0.33225387 0.39722780 -0.42575897
|
| 93 |
+
v 0.31835695 0.42071944 -0.42903741
|
| 94 |
+
v 0.44126335 0.30695561 -0.36495892
|
| 95 |
+
v 0.20506110 -0.09363319 0.99156754
|
| 96 |
+
v 0.21692761 -0.08207686 0.99886952
|
| 97 |
+
v 0.22644789 -0.07260441 1.00363817
|
| 98 |
+
v 0.24539822 -0.05365959 1.01302636
|
| 99 |
+
v 0.24539822 -0.04001928 1.01704990
|
| 100 |
+
v 0.30233942 0.04125413 1.04208525
|
| 101 |
+
v 0.49211340 -0.01349650 1.04089307
|
| 102 |
+
v 0.51286852 0.00146992 1.04372444
|
| 103 |
+
v 0.51106371 0.02230927 1.05028132
|
| 104 |
+
v 0.49211340 0.02230927 1.05028132
|
| 105 |
+
v 0.42348615 -0.08359243 1.01824208
|
| 106 |
+
v 0.43517218 -0.08368717 1.01839112
|
| 107 |
+
v 0.44595581 -0.08273992 1.01809303
|
| 108 |
+
v 0.53005917 0.36388490 1.07665778
|
| 109 |
+
v 0.15042100 0.23439684 1.07099504
|
| 110 |
+
v 0.49211340 0.06019896 1.05400678
|
| 111 |
+
v 0.15042100 0.72355281 -0.42054331
|
| 112 |
+
v 0.15042100 0.73889814 -0.41026092
|
| 113 |
+
v 0.16950668 0.74155043 -0.41130405
|
| 114 |
+
v 0.18850212 0.74221346 -0.41115506
|
| 115 |
+
v 0.20745245 0.73880340 -0.40891975
|
| 116 |
+
v 0.21823609 0.73539334 -0.40668445
|
| 117 |
+
v 0.22531990 0.72270029 -0.40936683
|
| 118 |
+
v 0.25717449 0.66311877 -0.40802561
|
| 119 |
+
v 0.23619377 0.71521714 -0.40564131
|
| 120 |
+
v 0.49319627 -0.09363319 -0.39744524
|
| 121 |
+
v 0.46950836 0.32599518 -0.33515498
|
| 122 |
+
v 0.61136507 0.38292447 -0.19209606
|
| 123 |
+
v 0.45849913 0.32599518 -0.34469227
|
| 124 |
+
v 0.20885117 -0.09363319 0.99216365
|
| 125 |
+
v 0.32147023 -0.09363319 1.00468130
|
| 126 |
+
v 0.35729537 -0.09363319 1.00840676
|
| 127 |
+
v 0.41667307 -0.09363319 1.01436758
|
| 128 |
+
v 0.50767973 -0.01084421 1.03970090
|
| 129 |
+
v 0.53005917 0.02230927 1.04566172
|
| 130 |
+
v 0.53005917 0.00791119 1.03999893
|
| 131 |
+
v 0.53005917 0.04125413 1.04894016
|
| 132 |
+
v 0.58700039 0.28801075 1.06473625
|
| 133 |
+
v 0.56001871 0.35109711 1.07501859
|
| 134 |
+
v 0.43476611 -0.09363319 1.01466561
|
| 135 |
+
v 0.45863449 -0.08018237 1.01645384
|
| 136 |
+
v 0.54905462 0.36388490 1.07635975
|
| 137 |
+
v 0.54806197 0.38264029 1.07591273
|
| 138 |
+
v 0.53060059 0.38339807 1.07591273
|
| 139 |
+
v 0.51106371 0.37771463 1.07561465
|
| 140 |
+
v 0.15042100 0.24832129 1.07054797
|
| 141 |
+
v 0.15042100 0.74865473 -0.39565701
|
| 142 |
+
v 0.16950668 0.75102285 -0.40221389
|
| 143 |
+
v 0.18850212 0.75168593 -0.40340601
|
| 144 |
+
v 0.20745245 0.74827587 -0.39923348
|
| 145 |
+
v 0.21697273 0.75291731 -0.38656679
|
| 146 |
+
v 0.22392118 0.74107677 -0.39297462
|
| 147 |
+
v 0.23619377 0.73416196 -0.38671583
|
| 148 |
+
v 0.25054188 0.72582618 -0.37866874
|
| 149 |
+
v 0.25455754 0.71445931 -0.38611971
|
| 150 |
+
v 0.61136507 0.41503594 -0.17972740
|
| 151 |
+
v 0.61136507 0.40177455 -0.18524115
|
| 152 |
+
v 0.25861832 0.70176626 -0.38984523
|
| 153 |
+
v 0.61136507 0.42469784 -0.17495881
|
| 154 |
+
v 0.50231047 -0.09363319 -0.38731189
|
| 155 |
+
v 0.61136507 0.37582014 -0.19343722
|
| 156 |
+
v 0.61136507 0.36388490 -0.19552354
|
| 157 |
+
v 0.52035841 -0.00601329 1.03672054
|
| 158 |
+
v 0.54418167 0.02230927 1.03925388
|
| 159 |
+
v 0.55807855 0.03329729 1.03657150
|
| 160 |
+
v 0.55067893 0.04030687 1.04134015
|
| 161 |
+
v 0.53985014 0.01245794 1.03701857
|
| 162 |
+
v 0.61136507 0.26897121 1.05549699
|
| 163 |
+
v 0.60324349 0.26897121 1.05803032
|
| 164 |
+
v 0.60748474 0.28876855 1.05907346
|
| 165 |
+
v 0.56051505 0.36388490 1.07546566
|
| 166 |
+
v 0.45299452 -0.09363319 1.00915186
|
| 167 |
+
v 0.45416763 -0.09363319 1.00855580
|
| 168 |
+
v 0.45637850 -0.09363319 1.00736362
|
| 169 |
+
v 0.46666582 -0.09363319 1.00155184
|
| 170 |
+
v 0.50222022 -0.04466077 1.01839112
|
| 171 |
+
v 0.55970286 0.37619903 1.07546566
|
| 172 |
+
v 0.54106839 0.39268105 1.07501859
|
| 173 |
+
v 0.53732345 0.39268105 1.07501859
|
| 174 |
+
v 0.15051123 0.32599518 1.06473625
|
| 175 |
+
v 0.15042100 0.32590047 1.06473625
|
| 176 |
+
v 0.15673777 0.75386462 -0.38910012
|
| 177 |
+
v 0.15042100 0.75500131 -0.37673146
|
| 178 |
+
v 0.16950668 0.75481182 -0.39282564
|
| 179 |
+
v 0.18850212 0.75519074 -0.39386877
|
| 180 |
+
v 0.20745245 0.75395931 -0.38969618
|
| 181 |
+
v 0.20745245 0.75822189 -0.37702955
|
| 182 |
+
v 0.22004087 0.75500131 -0.37702955
|
| 183 |
+
v 0.23366706 0.75111759 -0.36346872
|
| 184 |
+
v 0.25397099 0.73302528 -0.36466089
|
| 185 |
+
v 0.24016431 0.73747728 -0.37702955
|
| 186 |
+
v 0.25952072 0.72033223 -0.37345308
|
| 187 |
+
v 0.52270464 0.54641848 -0.19865294
|
| 188 |
+
v 0.61136507 0.43947484 -0.16691172
|
| 189 |
+
v 0.59751327 -0.07260441 -0.27390786
|
| 190 |
+
v 0.59782912 -0.09154930 -0.27420594
|
| 191 |
+
v 0.59778398 -0.09363319 -0.27420594
|
| 192 |
+
v 0.61136507 -0.07260441 -0.25289611
|
| 193 |
+
v 0.60477759 -0.07260441 -0.26317845
|
| 194 |
+
v 0.52211808 -0.02666317 1.01928521
|
| 195 |
+
v 0.61136507 0.19319178 1.04074403
|
| 196 |
+
v 0.61136507 0.21204193 1.04476757
|
| 197 |
+
v 0.61136507 0.25012107 1.05206956
|
| 198 |
+
v 0.55365683 0.02230927 1.03269700
|
| 199 |
+
v 0.57820203 0.03102388 1.01868915
|
| 200 |
+
v 0.59548289 0.05271574 1.01660288
|
| 201 |
+
v 0.59904737 0.06531408 1.01943425
|
| 202 |
+
v 0.52911162 -0.01472790 1.02345774
|
| 203 |
+
v 0.54097815 -0.00771832 1.01943425
|
| 204 |
+
v 0.54675347 0.00582725 1.02554406
|
| 205 |
+
v 0.61136507 0.28573738 1.05728522
|
| 206 |
+
v 0.61136507 0.29198919 1.05758331
|
| 207 |
+
v 0.61136507 0.29303113 1.05758331
|
| 208 |
+
v 0.60653726 0.30534529 1.05922250
|
| 209 |
+
v 0.47424592 -0.09363319 0.99201461
|
| 210 |
+
v 0.55370194 0.38889208 1.07293232
|
| 211 |
+
v 0.61136507 0.30146160 1.05743426
|
| 212 |
+
v 0.61136507 0.30534529 1.05654012
|
| 213 |
+
v 0.61136507 0.30913427 1.05564603
|
| 214 |
+
v 0.61136507 0.31860669 1.05266562
|
| 215 |
+
v 0.58266886 0.36388490 1.06086169
|
| 216 |
+
v 0.61136507 0.47793284 0.97085382
|
| 217 |
+
v 0.61136507 0.48323742 0.96772442
|
| 218 |
+
v 0.44401567 0.63867988 0.97979499
|
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| 997 |
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|
| 999 |
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|
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f 266 306 268
|
| 1032 |
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f 268 306 307
|
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f 268 307 308
|
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f 268 308 309
|
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f 268 309 269
|
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f 269 309 310
|
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f 269 310 311
|
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f 269 311 270
|
| 1039 |
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f 271 311 310
|
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|
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f 271 312 313
|
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f 271 313 272
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f 272 313 312
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 404 424 405
|
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f 405 423 422
|
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f 405 422 425
|
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f 405 425 406
|
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f 406 425 426
|
| 1266 |
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f 407 427 408
|
| 1267 |
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f 408 427 409
|
| 1268 |
+
f 409 427 410
|
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f 410 425 422
|
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f 410 422 412
|
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f 410 427 425
|
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f 412 422 413
|
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f 413 422 421
|
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+
f 413 420 414
|
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+
f 414 420 419
|
| 1276 |
+
f 414 419 415
|
| 1277 |
+
f 418 419 420
|
| 1278 |
+
f 425 427 426
|
| 1279 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_07.obj
ADDED
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@@ -0,0 +1,196 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26972648 -0.70410418 0.50607802
|
| 3 |
+
v -0.26972648 -0.77491648 0.52778970
|
| 4 |
+
v -0.26972648 -0.70410418 0.38451792
|
| 5 |
+
v -0.37324066 -0.70410418 0.45963917
|
| 6 |
+
v -0.45683578 -0.70412030 0.45018590
|
| 7 |
+
v -0.43762386 -0.70412030 0.45614680
|
| 8 |
+
v -0.26972648 -0.78383644 0.52769152
|
| 9 |
+
v -0.26972648 -0.83808086 0.38451792
|
| 10 |
+
v -0.37326085 -0.70412030 0.38450390
|
| 11 |
+
v -0.37324066 -0.70410418 0.38451792
|
| 12 |
+
v -0.47608814 -0.70412030 0.41506573
|
| 13 |
+
v -0.47586590 -0.70412030 0.42005886
|
| 14 |
+
v -0.47368410 -0.70412030 0.43496810
|
| 15 |
+
v -0.47313867 -0.70412030 0.43691766
|
| 16 |
+
v -0.26972648 -0.81595805 0.51394640
|
| 17 |
+
v -0.26972648 -0.81481485 0.51473185
|
| 18 |
+
v -0.26972648 -0.81397761 0.51522274
|
| 19 |
+
v -0.26972648 -0.79381911 0.52635908
|
| 20 |
+
v -0.26972648 -0.84168748 0.38850120
|
| 21 |
+
v -0.29257474 -0.84202561 0.38451792
|
| 22 |
+
v -0.37326085 -0.79940617 0.38450390
|
| 23 |
+
v -0.46928012 -0.70412030 0.38450390
|
| 24 |
+
v -0.46944172 -0.70412030 0.38474233
|
| 25 |
+
v -0.47350231 -0.70412030 0.39526155
|
| 26 |
+
v -0.47457299 -0.70412030 0.40178347
|
| 27 |
+
v -0.46925992 -0.71229963 0.40108218
|
| 28 |
+
v -0.43491681 -0.75301913 0.38450390
|
| 29 |
+
v -0.46905788 -0.71152675 0.42005886
|
| 30 |
+
v -0.43366429 -0.75419450 0.38450390
|
| 31 |
+
v -0.35356405 -0.82318740 0.39357848
|
| 32 |
+
v -0.34344294 -0.82885495 0.40036688
|
| 33 |
+
v -0.31429168 -0.84109170 0.42902124
|
| 34 |
+
v -0.27433248 -0.85825542 0.46306142
|
| 35 |
+
v -0.26972648 -0.85342512 0.47546009
|
| 36 |
+
v -0.26972648 -0.85155742 0.47798470
|
| 37 |
+
v -0.26972648 -0.85015658 0.47968180
|
| 38 |
+
v -0.27546379 -0.84006124 0.48520789
|
| 39 |
+
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_08.obj
ADDED
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.61141326 -0.37905625 -0.30516936
|
| 3 |
+
v 0.61141326 -0.37886942 -0.30543612
|
| 4 |
+
v 0.61162045 -0.37905625 -0.30503588
|
| 5 |
+
v 0.61141326 -0.37905625 0.45451224
|
| 6 |
+
v 0.66767516 -0.37905625 -0.22738671
|
| 7 |
+
v 0.61141326 -0.29975533 -0.30450226
|
| 8 |
+
v 0.78262585 -0.20541621 -0.09490269
|
| 9 |
+
v 0.69425236 -0.37905625 0.24638031
|
| 10 |
+
v 0.61141326 -0.37205085 0.47385783
|
| 11 |
+
v 0.69096718 -0.37905625 -0.19336516
|
| 12 |
+
v 0.61141326 -0.28032709 -0.30036627
|
| 13 |
+
v 0.61144284 0.38284896 -0.19189746
|
| 14 |
+
v 0.61144284 0.36379431 -0.19536635
|
| 15 |
+
v 0.65477136 0.37575017 -0.15987722
|
| 16 |
+
v 0.77256325 -0.18645498 -0.10584297
|
| 17 |
+
v 0.78206355 -0.18645498 -0.09503612
|
| 18 |
+
v 0.78736123 -0.18645498 -0.08543002
|
| 19 |
+
v 0.78718363 -0.20541621 -0.08529662
|
| 20 |
+
v 0.78665092 -0.21709184 -0.08382901
|
| 21 |
+
v 0.69638325 -0.37905625 -0.18509318
|
| 22 |
+
v 0.69960920 -0.37905625 0.23250484
|
| 23 |
+
v 0.65021358 -0.32478788 0.47692644
|
| 24 |
+
v 0.61141326 -0.36719380 0.48586544
|
| 25 |
+
v 0.61141326 -0.36924870 0.48092898
|
| 26 |
+
v 0.61141326 0.15522079 -0.20403857
|
| 27 |
+
v 0.61141326 0.22041753 -0.18215802
|
| 28 |
+
v 0.61144284 0.40171675 -0.18509318
|
| 29 |
+
v 0.61819074 0.40171675 -0.17975647
|
| 30 |
+
v 0.65119025 0.38845326 -0.15640834
|
| 31 |
+
v 0.65938830 0.38238192 -0.14960405
|
| 32 |
+
v 0.78685811 -0.17524637 -0.08396244
|
| 33 |
+
v 0.61588224 0.41180451 -0.17788865
|
| 34 |
+
v 0.62399154 0.41843628 -0.16681500
|
| 35 |
+
v 0.61946340 0.43580962 -0.16187853
|
| 36 |
+
v 0.79091276 -0.18645498 -0.07328900
|
| 37 |
+
v 0.79037999 -0.20541621 -0.07328900
|
| 38 |
+
v 0.78789394 -0.22101487 -0.07328900
|
| 39 |
+
v 0.78558544 -0.23044876 -0.07328900
|
| 40 |
+
v 0.78224111 -0.24343206 -0.07328900
|
| 41 |
+
v 0.76924850 -0.27677768 -0.08676420
|
| 42 |
+
v 0.71328254 -0.37905625 -0.15227235
|
| 43 |
+
v 0.70742257 -0.37905625 -0.16534731
|
| 44 |
+
v 0.70662345 -0.37905625 -0.16708175
|
| 45 |
+
v 0.70028993 -0.37905625 0.23050358
|
| 46 |
+
v 0.75045509 -0.17935620 0.50921359
|
| 47 |
+
v 0.71097404 -0.23465201 0.50707889
|
| 48 |
+
v 0.69129276 -0.25277257 0.52402296
|
| 49 |
+
v 0.61141326 -0.36121587 0.49720597
|
| 50 |
+
v 0.68951697 -0.23091580 0.57178657
|
| 51 |
+
v 0.67596202 -0.23745416 0.59086536
|
| 52 |
+
v 0.61144284 0.57507657 0.02250506
|
| 53 |
+
v 0.61144284 0.51034687 -0.10584297
|
| 54 |
+
v 0.61144284 0.49857783 -0.11664981
|
| 55 |
+
v 0.61144284 0.45122147 -0.15934350
|
| 56 |
+
v 0.61144284 0.43945244 -0.16654814
|
| 57 |
+
v 0.61144284 0.42432080 -0.17495349
|
| 58 |
+
v 0.61144284 0.41507373 -0.17948961
|
| 59 |
+
v 0.61141326 0.22041753 0.17646932
|
| 60 |
+
v 0.63210085 0.42506805 -0.15427365
|
| 61 |
+
v 0.65690225 0.39648609 -0.14373361
|
| 62 |
+
v 0.71064852 0.50651728 0.03077698
|
| 63 |
+
v 0.76847902 0.50754475 0.14244776
|
| 64 |
+
v 0.77025475 0.49661635 0.13951257
|
| 65 |
+
v 0.77694343 0.49661635 0.15458878
|
| 66 |
+
v 0.78484554 0.47765511 0.17006526
|
| 67 |
+
v 0.80970617 0.42067798 0.23157092
|
| 68 |
+
v 0.81692761 0.40171675 0.24931550
|
| 69 |
+
v 0.61496479 0.44841935 -0.15787592
|
| 70 |
+
v 0.87623791 0.26889477 0.43890235
|
| 71 |
+
v 0.91133867 0.13607274 0.55270782
|
| 72 |
+
v 0.79331001 -0.20541621 -0.05434366
|
| 73 |
+
v 0.78934416 -0.22391041 -0.05434366
|
| 74 |
+
v 0.77655869 -0.26239329 -0.07328900
|
| 75 |
+
v 0.77040272 -0.27957984 -0.07328900
|
| 76 |
+
v 0.73618982 -0.37905625 -0.05434366
|
| 77 |
+
v 0.73234236 -0.37905625 -0.07182139
|
| 78 |
+
v 0.71384489 -0.37905625 -0.15067139
|
| 79 |
+
v 0.70478849 -0.37905625 0.21422659
|
| 80 |
+
v 0.76886376 -0.16048835 0.49173584
|
| 81 |
+
v 0.76300373 -0.16702671 0.49733938
|
| 82 |
+
v 0.76699922 -0.15749940 0.50441054
|
| 83 |
+
v 0.69306850 -0.21783909 0.58512835
|
| 84 |
+
v 0.70875434 -0.23128940 0.51975360
|
| 85 |
+
v 0.70117780 -0.24361889 0.51561763
|
| 86 |
+
v 0.69662002 -0.24062991 0.53376248
|
| 87 |
+
v 0.61141326 -0.32852408 0.55550959
|
| 88 |
+
v 0.68587670 -0.22419062 0.59113216
|
| 89 |
+
v 0.67294326 -0.23446518 0.60113853
|
| 90 |
+
v 0.65465297 -0.25389345 0.60220587
|
| 91 |
+
v 0.73790639 0.57517001 0.21649469
|
| 92 |
+
v 0.61736203 0.57507657 0.02904254
|
| 93 |
+
v 0.61144284 0.57507657 0.88184976
|
| 94 |
+
v 0.64130515 0.57507657 0.05972866
|
| 95 |
+
v 0.65586642 0.57507657 0.07854056
|
| 96 |
+
v 0.67060517 0.56181309 0.07173628
|
| 97 |
+
v 0.69141115 0.52510491 0.03131065
|
| 98 |
+
v 0.61141326 0.22032414 1.04608719
|
| 99 |
+
v 0.70129619 0.51987421 0.03878204
|
| 100 |
+
v 0.72796213 0.56162626 0.16699665
|
| 101 |
+
v 0.76960366 0.52725317 0.17913767
|
| 102 |
+
v 0.77090585 0.51081391 0.15458878
|
| 103 |
+
v 0.78076131 0.51567096 0.19247947
|
| 104 |
+
v 0.78342497 0.49577571 0.17433464
|
| 105 |
+
v 0.78668050 0.48886373 0.18127237
|
| 106 |
+
v 0.81464869 0.42067798 0.24931550
|
| 107 |
+
v 0.86951959 0.28794941 0.42009042
|
| 108 |
+
v 0.87333748 0.28794941 0.43890235
|
| 109 |
+
v 0.87904948 0.26889477 0.45798110
|
| 110 |
+
v 0.90923736 0.15503398 0.55270782
|
| 111 |
+
v 0.91376556 0.13607274 0.57178657
|
| 112 |
+
v 0.90917820 0.11701811 0.55270782
|
| 113 |
+
v 0.91130909 0.11701811 0.57178657
|
| 114 |
+
v 0.77670665 -0.26239329 -0.05434366
|
| 115 |
+
v 0.73778801 -0.37625410 -0.03539832
|
| 116 |
+
v 0.73719608 -0.37625410 -0.05434366
|
| 117 |
+
v 0.73675217 -0.37905625 -0.03539832
|
| 118 |
+
v 0.70538042 -0.37905625 0.21155824
|
| 119 |
+
v 0.78543747 -0.13760412 0.48279684
|
| 120 |
+
v 0.77401347 -0.15002699 0.49733938
|
| 121 |
+
v 0.90370291 0.10235351 0.57178657
|
| 122 |
+
v 0.90169041 0.10608971 0.58312710
|
| 123 |
+
v 0.68013506 -0.13087896 0.72441666
|
| 124 |
+
v 0.61141326 -0.32674940 0.55844479
|
| 125 |
+
v 0.67673155 -0.22381702 0.60834309
|
| 126 |
+
v 0.67522217 -0.14208757 0.71907995
|
| 127 |
+
v 0.67122669 -0.13807114 0.73162124
|
| 128 |
+
v 0.66939173 -0.22970154 0.61354639
|
| 129 |
+
v 0.65675428 -0.23745416 0.62381956
|
| 130 |
+
v 0.66202232 -0.24221780 0.60794282
|
| 131 |
+
v 0.61141326 -0.31488695 0.57725673
|
| 132 |
+
v 0.76581536 0.57517001 0.26425830
|
| 133 |
+
v 0.69798143 0.57507657 0.13884547
|
| 134 |
+
v 0.69537700 0.57507657 0.13444267
|
| 135 |
+
v 0.69034567 0.57507657 0.12630418
|
| 136 |
+
v 0.68259152 0.57507657 0.11536393
|
| 137 |
+
v 0.66379811 0.57507657 0.08934744
|
| 138 |
+
v 0.73790639 0.57517001 0.78232004
|
| 139 |
+
v 0.61144284 0.57115360 0.88598575
|
| 140 |
+
v 0.67359435 0.56386802 0.84769484
|
| 141 |
+
v 0.66415327 0.57507657 0.84182441
|
| 142 |
+
v 0.80541474 0.57517001 0.73375592
|
| 143 |
+
v 0.69522903 0.52828069 0.04385191
|
| 144 |
+
v 0.61141326 0.21182427 1.04448623
|
| 145 |
+
v 0.61144284 0.25002695 1.05195762
|
| 146 |
+
v 0.61144284 0.26898818 1.05529302
|
| 147 |
+
v 0.61144284 0.28561427 1.05716095
|
| 148 |
+
v 0.61144284 0.29187241 1.05756119
|
| 149 |
+
v 0.61144284 0.30139972 1.05756119
|
| 150 |
+
v 0.61144284 0.30905896 1.05555988
|
| 151 |
+
v 0.61144284 0.31858627 1.05249135
|
| 152 |
+
v 0.61144284 0.32568505 1.04995631
|
| 153 |
+
v 0.61144284 0.34072328 1.04221806
|
| 154 |
+
v 0.61144284 0.46616629 0.97697675
|
| 155 |
+
v 0.61144284 0.47793533 0.97070607
|
| 156 |
+
v 0.61144284 0.48316603 0.96750405
|
| 157 |
+
v 0.61144284 0.49101204 0.96243421
|
| 158 |
+
v 0.61144284 0.50007234 0.95562992
|
| 159 |
+
v 0.61144284 0.50175361 0.95416234
|
| 160 |
+
v 0.61144284 0.51053370 0.94602385
|
| 161 |
+
v 0.70842882 0.56106583 0.12990647
|
| 162 |
+
v 0.71499911 0.56751078 0.15458878
|
| 163 |
+
v 0.76981085 0.57517001 0.27306388
|
| 164 |
+
v 0.77226726 0.53061578 0.19247947
|
| 165 |
+
v 0.77401347 0.51651160 0.17300046
|
| 166 |
+
v 0.78528950 0.50156684 0.19247947
|
| 167 |
+
v 0.77203055 0.56956571 0.26839426
|
| 168 |
+
v 0.77413186 0.57432938 0.28573859
|
| 169 |
+
v 0.78061334 0.55359343 0.26839426
|
| 170 |
+
v 0.78443122 0.55350004 0.28560517
|
| 171 |
+
v 0.78626618 0.54387926 0.27813377
|
| 172 |
+
v 0.82175174 0.51436329 0.43996969
|
| 173 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 276 289 290
|
| 858 |
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|
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f 276 291 277
|
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f 277 291 278
|
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|
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f 278 285 288
|
| 863 |
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f 279 283 280
|
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f 280 287 289
|
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|
| 866 |
+
f 284 288 285
|
| 867 |
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f 285 291 286
|
| 868 |
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f 286 291 287
|
| 869 |
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f 287 290 289
|
| 870 |
+
f 287 291 290
|
| 871 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_09.obj
ADDED
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.49751337 -0.56797720 0.45402340
|
| 3 |
+
v 0.50477865 -0.58483237 0.45402340
|
| 4 |
+
v 0.49290420 -0.56797720 0.38450390
|
| 5 |
+
v -0.26971632 -0.56797720 0.45402340
|
| 6 |
+
v 0.51134084 -0.60057727 0.45402340
|
| 7 |
+
v 0.51712182 -0.61539363 0.45402340
|
| 8 |
+
v 0.52196536 -0.62895854 0.45402340
|
| 9 |
+
v 0.52454335 -0.63800175 0.45402340
|
| 10 |
+
v 0.50157569 -0.59454173 0.39145857
|
| 11 |
+
v 0.49298232 -0.56827998 0.38450390
|
| 12 |
+
v -0.26971632 -0.56797720 0.38450390
|
| 13 |
+
v -0.26971632 -0.77419536 0.45402340
|
| 14 |
+
v 0.52759008 -0.65481654 0.45402340
|
| 15 |
+
v 0.50298187 -0.60408960 0.38751169
|
| 16 |
+
v 0.50579423 -0.60408960 0.40107398
|
| 17 |
+
v 0.49845082 -0.58977789 0.38450390
|
| 18 |
+
v -0.26971632 -0.77419536 0.38450390
|
| 19 |
+
v 0.18127818 -0.77419536 0.45402340
|
| 20 |
+
v 0.52837130 -0.66103376 0.45402340
|
| 21 |
+
v 0.50204440 -0.60408960 0.38450390
|
| 22 |
+
v -0.04019582 -0.77419536 0.38450390
|
| 23 |
+
v 0.16940374 -0.77419536 0.44024335
|
| 24 |
+
v 0.16940374 -0.77346864 0.42004621
|
| 25 |
+
v 0.18838722 -0.77009766 0.38450390
|
| 26 |
+
v 0.18838722 -0.77334754 0.45402340
|
| 27 |
+
v 0.52626202 -0.68073511 0.45402340
|
| 28 |
+
v 0.52282469 -0.67655664 0.44440118
|
| 29 |
+
v 0.50337246 -0.61947119 0.38627999
|
| 30 |
+
v 0.50266939 -0.61616073 0.38450390
|
| 31 |
+
v 0.15049837 -0.77419536 0.43513963
|
| 32 |
+
v 0.16940374 -0.77134917 0.38450390
|
| 33 |
+
v 0.16940374 -0.77243920 0.40107398
|
| 34 |
+
v 0.20440210 -0.76674682 0.38450390
|
| 35 |
+
v 0.20627701 -0.76947191 0.45402340
|
| 36 |
+
v 0.21268296 -0.76499066 0.38450390
|
| 37 |
+
v 0.52485583 -0.68400518 0.45402340
|
| 38 |
+
v 0.51977796 -0.68921315 0.44883121
|
| 39 |
+
v 0.50134132 -0.63210750 0.39188728
|
| 40 |
+
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|
| 41 |
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| 42 |
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| 51 |
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| 53 |
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|
| 54 |
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|
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|
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|
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|
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|
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|
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|
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f 13 19 14
|
| 106 |
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|
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|
| 108 |
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|
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|
| 111 |
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|
| 112 |
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|
| 113 |
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| 114 |
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|
| 115 |
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f 21 31 32
|
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|
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|
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|
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f 23 32 24
|
| 120 |
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f 24 33 25
|
| 121 |
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|
| 122 |
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f 25 33 35
|
| 123 |
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f 25 35 34
|
| 124 |
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|
| 125 |
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f 27 36 37
|
| 126 |
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f 27 37 28
|
| 127 |
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f 28 37 38
|
| 128 |
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f 28 38 39
|
| 129 |
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f 28 39 29
|
| 130 |
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f 34 35 40
|
| 131 |
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f 35 41 42
|
| 132 |
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f 35 42 43
|
| 133 |
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f 35 43 40
|
| 134 |
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f 36 44 37
|
| 135 |
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f 37 45 46
|
| 136 |
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f 37 46 47
|
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f 37 47 48
|
| 138 |
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|
| 139 |
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f 37 44 42
|
| 140 |
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|
| 141 |
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|
| 142 |
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f 38 48 39
|
| 143 |
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f 41 49 45
|
| 144 |
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f 45 49 46
|
| 145 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_10.obj
ADDED
|
@@ -0,0 +1,361 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
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|
| 3 |
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| 4 |
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| 5 |
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|
| 6 |
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v 0.51250793 -0.37905631 -0.40706065
|
| 7 |
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v 0.47706660 -0.37905631 0.68544631
|
| 8 |
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|
| 9 |
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v 0.49213181 -0.20552824 -0.42845510
|
| 10 |
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v 0.50347671 -0.21988878 -0.42525981
|
| 11 |
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v 0.51417747 -0.37905631 -0.40678281
|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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v 0.51111448 -0.28141010 -0.41734112
|
| 19 |
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v 0.53009715 -0.26243963 -0.41178410
|
| 20 |
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v 0.52543034 -0.33834942 -0.40789416
|
| 21 |
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v 0.52148658 -0.37226718 -0.40581032
|
| 22 |
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v 0.52713931 -0.37905631 -0.40261503
|
| 23 |
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v 0.52006683 -0.37905631 0.63668360
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| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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|
| 28 |
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v 0.61136507 -0.20055512 0.71670445
|
| 29 |
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v 0.61136507 -0.09363322 0.79714206
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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v 0.53166151 -0.28210856 -0.40970021
|
| 36 |
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v 0.52883515 -0.37905631 -0.40192038
|
| 37 |
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v 0.52441812 -0.37905631 0.63126553
|
| 38 |
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v 0.61136507 -0.23243333 0.68405707
|
| 39 |
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v 0.61136507 -0.22813074 0.68878052
|
| 40 |
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v 0.48394190 -0.09363322 -0.40622708
|
| 41 |
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v 0.49865215 -0.16261419 -0.42303700
|
| 42 |
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v 0.48600580 -0.15375758 -0.42581554
|
| 43 |
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v 0.47706660 -0.13855886 -0.42456521
|
| 44 |
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v 0.61136507 -0.09363322 -0.25479871
|
| 45 |
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v 0.47706660 -0.16775494 -0.43067791
|
| 46 |
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v 0.50468614 -0.13285933 -0.40789416
|
| 47 |
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v 0.50834069 -0.14858890 -0.41095053
|
| 48 |
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v 0.51135111 -0.16719616 -0.41539615
|
| 49 |
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v 0.52623224 -0.18655777 -0.41039486
|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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v 0.53000512 -0.37905631 -0.40122579
|
| 56 |
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v 0.54808072 -0.26243963 -0.39594661
|
| 57 |
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v 0.55682274 -0.26243963 -0.38413798
|
| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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v 0.53714335 -0.37905631 0.61237172
|
| 64 |
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| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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v 0.61136507 -0.29984972 -0.30453394
|
| 79 |
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v 0.56315908 -0.26243963 -0.37455215
|
| 80 |
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v 0.61136507 -0.37897248 -0.30536745
|
| 81 |
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v 0.61136507 -0.37905631 -0.30522853
|
| 82 |
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v 0.53870771 -0.37905631 0.60973213
|
| 83 |
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v 0.54443931 -0.37260243 0.60973213
|
| 84 |
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v 0.61136507 -0.30568895 0.59083832
|
| 85 |
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v 0.61136507 -0.24221192 0.67224841
|
| 86 |
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v 0.49439288 -0.09363322 -0.39622450
|
| 87 |
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v 0.51783203 -0.14858890 -0.40247611
|
| 88 |
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v 0.50233301 -0.09363322 -0.38733327
|
| 89 |
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v 0.50707869 -0.11064797 -0.39289029
|
| 90 |
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v 0.51973817 -0.12176762 -0.38538830
|
| 91 |
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v 0.52297206 -0.13442391 -0.38927824
|
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_11.obj
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.47706660 -0.09364775 0.98767878
|
| 3 |
+
v 0.47422121 -0.09364775 0.99197009
|
| 4 |
+
v 0.46555713 -0.37904907 0.92502420
|
| 5 |
+
v 0.47179143 -0.37904907 0.91343741
|
| 6 |
+
v 0.47655507 -0.37904907 0.89441226
|
| 7 |
+
v 0.47703464 -0.37904907 0.87538700
|
| 8 |
+
v 0.47706660 -0.37904907 0.68542086
|
| 9 |
+
v 0.47706660 -0.09364775 -0.40988851
|
| 10 |
+
v 0.46664413 -0.09364775 1.00155433
|
| 11 |
+
v 0.45315244 -0.37904907 0.93546661
|
| 12 |
+
v 0.47706660 -0.37904907 -0.41246325
|
| 13 |
+
v 0.47706660 -0.09395506 -0.41003150
|
| 14 |
+
v 0.47415726 -0.09364775 -0.41146197
|
| 15 |
+
v 0.45414354 -0.09364775 1.00856360
|
| 16 |
+
v 0.44426455 -0.37904907 0.94176070
|
| 17 |
+
v 0.43787040 -0.37904907 -0.41918654
|
| 18 |
+
v 0.47706660 -0.27336454 -0.42362095
|
| 19 |
+
v 0.47706660 -0.09468141 -0.41031759
|
| 20 |
+
v 0.45612572 -0.09364775 -0.41746997
|
| 21 |
+
v 0.47706660 -0.13859790 -0.42447924
|
| 22 |
+
v 0.46833858 -0.13303850 -0.42619581
|
| 23 |
+
v 0.45296064 -0.09364775 1.00913579
|
| 24 |
+
v 0.37012428 -0.34985522 0.98052641
|
| 25 |
+
v 0.37843671 -0.37904907 0.96879651
|
| 26 |
+
v 0.43515289 -0.37904907 -0.41947263
|
| 27 |
+
v 0.43515289 -0.37631125 -0.41975873
|
| 28 |
+
v 0.47706660 -0.19047635 -0.43134552
|
| 29 |
+
v 0.47706660 -0.26462034 -0.42447924
|
| 30 |
+
v 0.45411158 -0.09364775 -0.41804216
|
| 31 |
+
v 0.47706660 -0.14938147 -0.42734019
|
| 32 |
+
v 0.47706660 -0.15125323 -0.42776927
|
| 33 |
+
v 0.47402937 -0.14792876 -0.42791238
|
| 34 |
+
v 0.47310222 -0.16759620 -0.43148851
|
| 35 |
+
v 0.45411158 -0.14862718 -0.43091632
|
| 36 |
+
v 0.45411158 -0.12982578 -0.42691099
|
| 37 |
+
v 0.38013116 -0.09364775 -0.42619581
|
| 38 |
+
v 0.39240793 -0.09364775 -0.42490832
|
| 39 |
+
v 0.43515289 -0.09364775 1.01457149
|
| 40 |
+
v 0.33847320 -0.37904907 0.98324425
|
| 41 |
+
v 0.34931130 -0.37904907 0.97966812
|
| 42 |
+
v 0.35877466 -0.37904907 0.97637809
|
| 43 |
+
v 0.31855541 -0.37904907 0.98896615
|
| 44 |
+
v 0.22919701 -0.37904907 -0.44092964
|
| 45 |
+
v 0.22472111 -0.37452330 -0.44207402
|
| 46 |
+
v 0.21723995 -0.36700836 -0.44350450
|
| 47 |
+
v 0.47310222 -0.18653728 -0.43206070
|
| 48 |
+
v 0.47706660 -0.18653728 -0.43134552
|
| 49 |
+
v 0.47706660 -0.16776382 -0.43048723
|
| 50 |
+
v 0.47706660 -0.17150733 -0.43091632
|
| 51 |
+
v 0.45411158 -0.16759620 -0.43334818
|
| 52 |
+
v 0.18012185 -0.13750837 -0.44364749
|
| 53 |
+
v 0.18849820 -0.09364775 -0.43663822
|
| 54 |
+
v 0.35925423 -0.09364775 -0.42748318
|
| 55 |
+
v 0.36174794 -0.09364775 -0.42734019
|
| 56 |
+
v 0.37821292 -0.09364775 -0.42633880
|
| 57 |
+
v 0.43473727 -0.09364775 1.01457149
|
| 58 |
+
v 0.26004884 -0.37904907 1.00126824
|
| 59 |
+
v 0.27561861 -0.37904907 0.99998075
|
| 60 |
+
v 0.27756885 -0.37904907 0.99969466
|
| 61 |
+
v 0.22510476 -0.37904907 -0.44092964
|
| 62 |
+
v 0.19243061 -0.36784645 -0.44379059
|
| 63 |
+
v 0.20748886 -0.36773468 -0.44379059
|
| 64 |
+
v 0.18849820 -0.33837324 -0.44565016
|
| 65 |
+
v 0.45411158 -0.18653728 -0.43334818
|
| 66 |
+
v 0.16953952 -0.31937629 -0.44679454
|
| 67 |
+
v 0.16953952 -0.14862718 -0.44407669
|
| 68 |
+
v 0.16953952 -0.13669821 -0.44379059
|
| 69 |
+
v 0.16953952 -0.09364775 -0.43735340
|
| 70 |
+
v 0.41667377 -0.09364775 1.01428539
|
| 71 |
+
v 0.41382838 -0.09364775 1.01414240
|
| 72 |
+
v 0.24706870 -0.37904907 1.00012386
|
| 73 |
+
v 0.20937513 -0.37904907 -0.44035745
|
| 74 |
+
v 0.18705951 -0.35904640 -0.44464888
|
| 75 |
+
v 0.17980214 -0.36650549 -0.44336140
|
| 76 |
+
v 0.16861237 -0.33929515 -0.44536406
|
| 77 |
+
v 0.15048493 -0.31937629 -0.44565016
|
| 78 |
+
v 0.15492886 -0.30476539 -0.44593625
|
| 79 |
+
v 0.15048493 -0.14862718 -0.44421968
|
| 80 |
+
v 0.15054887 -0.14862718 -0.44421968
|
| 81 |
+
v 0.15048493 -0.13706138 -0.44379059
|
| 82 |
+
v 0.15253106 -0.09364775 -0.43663822
|
| 83 |
+
v 0.32140080 -0.09364775 1.00470127
|
| 84 |
+
v 0.20886360 -0.09364775 0.99211320
|
| 85 |
+
v 0.20509104 -0.09364775 0.99154101
|
| 86 |
+
v 0.18555689 -0.09364775 0.98753568
|
| 87 |
+
v 0.15048493 -0.17857532 0.98009721
|
| 88 |
+
v 0.23939571 -0.37904907 0.99812119
|
| 89 |
+
v 0.19048039 -0.37904907 -0.43735340
|
| 90 |
+
v 0.17433514 -0.35385017 -0.44450578
|
| 91 |
+
v 0.18741119 -0.37904907 -0.43620902
|
| 92 |
+
v 0.17369573 -0.37904907 -0.43034413
|
| 93 |
+
v 0.17206521 -0.37904907 -0.42948584
|
| 94 |
+
v 0.17033879 -0.37619954 -0.43077333
|
| 95 |
+
v 0.15611179 -0.36980200 -0.42734019
|
| 96 |
+
v 0.15048493 -0.35812448 -0.43220380
|
| 97 |
+
v 0.15054887 -0.34194914 -0.44135873
|
| 98 |
+
v 0.15048493 -0.33245065 -0.44421968
|
| 99 |
+
v 0.15048493 -0.30037933 -0.44550716
|
| 100 |
+
v 0.15051690 -0.30476539 -0.44565016
|
| 101 |
+
v 0.15048493 -0.11066120 -0.43864088
|
| 102 |
+
v 0.15054887 -0.09364775 -0.43649512
|
| 103 |
+
v 0.16755733 -0.09364775 0.98295816
|
| 104 |
+
v 0.15048493 -0.17265274 0.98009721
|
| 105 |
+
v 0.15048493 -0.18807380 0.97780856
|
| 106 |
+
v 0.21292389 -0.37904907 0.98295816
|
| 107 |
+
v 0.22523264 -0.37904907 0.99111181
|
| 108 |
+
v 0.16228215 -0.37904907 -0.42219048
|
| 109 |
+
v 0.15048493 -0.36762297 -0.42505143
|
| 110 |
+
v 0.15048493 -0.34186531 -0.44135873
|
| 111 |
+
v 0.15048493 -0.09364775 -0.43463555
|
| 112 |
+
v 0.15707091 -0.09364775 0.98024031
|
| 113 |
+
v 0.15048493 -0.09364775 0.97852374
|
| 114 |
+
v 0.16263383 -0.37904907 0.91157785
|
| 115 |
+
v 0.16442420 -0.37904907 0.91544008
|
| 116 |
+
v 0.17331208 -0.37904907 0.93160439
|
| 117 |
+
v 0.17542214 -0.37904907 0.93503753
|
| 118 |
+
v 0.17941849 -0.37904907 0.94118851
|
| 119 |
+
v 0.19150346 -0.37904907 0.95720972
|
| 120 |
+
v 0.20416389 -0.37904907 0.97394622
|
| 121 |
+
v 0.15048493 -0.37904907 0.87910624
|
| 122 |
+
v 0.15576011 -0.37904907 0.89441226
|
| 123 |
+
v 0.15937281 -0.37904907 0.90399639
|
| 124 |
+
v 0.15393777 -0.37904907 -0.41475201
|
| 125 |
+
v 0.15048493 -0.37594809 -0.41518121
|
| 126 |
+
v 0.15048493 -0.37904907 -0.41117588
|
| 127 |
+
f 1 2 3
|
| 128 |
+
f 1 3 4
|
| 129 |
+
f 1 4 5
|
| 130 |
+
f 1 5 6
|
| 131 |
+
f 1 6 7
|
| 132 |
+
f 1 7 11
|
| 133 |
+
f 1 11 17
|
| 134 |
+
f 1 17 28
|
| 135 |
+
f 1 28 27
|
| 136 |
+
f 1 27 47
|
| 137 |
+
f 1 47 49
|
| 138 |
+
f 1 49 48
|
| 139 |
+
f 1 48 31
|
| 140 |
+
f 1 31 30
|
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f 1 30 20
|
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f 1 20 18
|
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f 1 18 12
|
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f 1 12 8
|
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f 1 8 13
|
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f 1 13 19
|
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f 1 19 29
|
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f 1 29 37
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f 1 37 36
|
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f 1 36 55
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f 1 55 54
|
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f 1 54 53
|
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f 1 53 52
|
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f 1 52 68
|
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f 1 68 81
|
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+
f 1 81 101
|
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+
f 1 101 110
|
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+
f 1 110 112
|
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+
f 1 112 111
|
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+
f 1 111 102
|
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f 1 102 85
|
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f 1 85 84
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f 1 84 83
|
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f 1 83 82
|
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f 1 82 70
|
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f 1 70 69
|
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f 1 69 56
|
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f 1 56 38
|
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f 1 38 22
|
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f 1 22 14
|
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f 1 14 9
|
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f 1 9 2
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f 2 9 3
|
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f 3 10 15
|
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f 3 15 24
|
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f 3 24 41
|
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f 3 41 40
|
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f 3 40 39
|
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f 3 39 42
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f 3 42 59
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f 3 59 58
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f 3 58 57
|
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f 3 57 71
|
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f 3 71 87
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f 3 87 106
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f 3 106 105
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f 3 105 119
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f 3 119 118
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f 3 118 117
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f 3 117 116
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f 3 116 115
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f 3 115 114
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f 3 114 113
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f 3 113 122
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f 3 122 121
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f 3 121 120
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f 3 120 125
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f 3 125 123
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f 3 123 107
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f 3 107 92
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f 3 91 90
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f 3 90 88
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f 3 88 72
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f 3 72 60
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f 3 60 43
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f 3 43 25
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f 3 25 16
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f 3 16 11
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f 3 11 7
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f 3 7 6
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f 3 6 5
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f 3 5 4
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f 3 9 10
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f 8 12 13
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f 13 21 19
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f 14 22 15
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f 15 23 24
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f 16 25 26
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f 16 26 27
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f 16 28 17
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f 100 110 101
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_12.obj
ADDED
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@@ -0,0 +1,991 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.53482866 -0.56802324 0.66681255
|
| 3 |
+
v 0.53889745 -0.57898196 0.66681255
|
| 4 |
+
v 0.53882211 -0.57898196 0.66175362
|
| 5 |
+
v 0.53754119 -0.57557461 0.66175362
|
| 6 |
+
v 0.53467798 -0.56802324 0.66175362
|
| 7 |
+
v 0.50039460 -0.56802324 0.89484712
|
| 8 |
+
v 0.57709889 -0.73028617 0.66175362
|
| 9 |
+
v 0.53950024 -0.58151445 0.66175362
|
| 10 |
+
v -0.12062371 -0.56802324 0.66175362
|
| 11 |
+
v 0.50016857 -0.56802324 0.89596356
|
| 12 |
+
v 0.58757224 -0.77490381 0.66175362
|
| 13 |
+
v -0.17803891 -0.73475249 0.66175362
|
| 14 |
+
v -0.08867615 -0.70270515 0.81299748
|
| 15 |
+
v -0.08649107 -0.69008875 0.80860150
|
| 16 |
+
v -0.04150829 -0.64390556 0.85468986
|
| 17 |
+
v -0.08325109 -0.56802324 0.72720540
|
| 18 |
+
v 0.49670257 -0.56802324 0.91208228
|
| 19 |
+
v 0.58644205 -0.77490381 0.66681255
|
| 20 |
+
v 0.58825037 -0.79392047 0.66175362
|
| 21 |
+
v -0.18014865 -0.74119884 0.66175362
|
| 22 |
+
v -0.08551154 -0.71799212 0.82587153
|
| 23 |
+
v -0.06885963 -0.70551389 0.84893317
|
| 24 |
+
v -0.08332644 -0.69745600 0.81903330
|
| 25 |
+
v -0.05047472 -0.68562243 0.86850590
|
| 26 |
+
v -0.02998006 -0.63211803 0.86634283
|
| 27 |
+
v -0.07428469 -0.56802324 0.74220769
|
| 28 |
+
v -0.02741822 -0.61945563 0.86159788
|
| 29 |
+
v 0.49617512 -0.56802324 0.91291964
|
| 30 |
+
v 0.49820952 -0.83181556 0.93657440
|
| 31 |
+
v 0.50340855 -0.83181556 0.92708456
|
| 32 |
+
v 0.50823082 -0.83181556 0.91347785
|
| 33 |
+
v 0.57845515 -0.77909393 0.69786376
|
| 34 |
+
v 0.58531181 -0.80773397 0.66175362
|
| 35 |
+
v 0.57845515 -0.78950014 0.69786376
|
| 36 |
+
v 0.57574262 -0.79502554 0.70442290
|
| 37 |
+
v 0.50333321 -0.84452399 0.92663104
|
| 38 |
+
v 0.57220128 -0.81284499 0.70477178
|
| 39 |
+
v -0.18150492 -0.75593324 0.66175362
|
| 40 |
+
v -0.17864170 -0.75593324 0.66883609
|
| 41 |
+
v -0.08603896 -0.73696268 0.82688332
|
| 42 |
+
v -0.07857954 -0.71799212 0.83762914
|
| 43 |
+
v -0.07029124 -0.71799212 0.85043339
|
| 44 |
+
v -0.05273514 -0.69902149 0.87112262
|
| 45 |
+
v -0.06260576 -0.69911363 0.85577145
|
| 46 |
+
v -0.01295141 -0.62709909 0.88692730
|
| 47 |
+
v -0.01038958 -0.61443670 0.88458978
|
| 48 |
+
v -0.07345585 -0.56802324 0.74353347
|
| 49 |
+
v -0.01423232 -0.60412257 0.87108772
|
| 50 |
+
v -0.01144444 -0.59376246 0.86690105
|
| 51 |
+
v 0.48622916 -0.56802324 0.92697992
|
| 52 |
+
v 0.48871567 -0.83181556 0.94582000
|
| 53 |
+
v 0.48705804 -0.84650398 0.94487800
|
| 54 |
+
v 0.58177047 -0.81436450 0.66841744
|
| 55 |
+
v 0.57943465 -0.82490878 0.66314920
|
| 56 |
+
v 0.58003744 -0.82384975 0.66175362
|
| 57 |
+
v 0.50536755 -0.84779321 0.91347785
|
| 58 |
+
v 0.57732491 -0.82168566 0.67577901
|
| 59 |
+
v 0.49316123 -0.85184515 0.93371350
|
| 60 |
+
v 0.48660593 -0.86510615 0.92816616
|
| 61 |
+
v 0.49926442 -0.85727852 0.91347785
|
| 62 |
+
v -0.18082678 -0.76353071 0.66175362
|
| 63 |
+
v -0.17924449 -0.77421318 0.66175362
|
| 64 |
+
v -0.17751146 -0.77421318 0.66541697
|
| 65 |
+
v -0.16749016 -0.77490381 0.68230325
|
| 66 |
+
v -0.12695295 -0.75593324 0.75651218
|
| 67 |
+
v -0.07925767 -0.73696268 0.83762914
|
| 68 |
+
v -0.12130184 -0.75593324 0.76600199
|
| 69 |
+
v -0.07036658 -0.73696268 0.85001477
|
| 70 |
+
v -0.06335923 -0.71799212 0.85992322
|
| 71 |
+
v -0.05386538 -0.71799212 0.87230885
|
| 72 |
+
v -0.04309061 -0.69902149 0.88061239
|
| 73 |
+
v -0.02952796 -0.67130241 0.88483396
|
| 74 |
+
v 0.12033923 -0.56802324 0.98133701
|
| 75 |
+
v 0.00641303 -0.59205879 0.88682266
|
| 76 |
+
v -0.00714961 -0.60412257 0.88057755
|
| 77 |
+
v 0.11092073 -0.56802324 0.97303341
|
| 78 |
+
v 0.10044736 -0.56802324 0.96354363
|
| 79 |
+
v 0.04039499 -0.56802324 0.90684897
|
| 80 |
+
v -0.06788011 -0.56802324 0.75243018
|
| 81 |
+
v 0.02434587 -0.56802324 0.88828798
|
| 82 |
+
v 0.01485202 -0.56802324 0.87614664
|
| 83 |
+
v 0.00784464 -0.56802324 0.86641257
|
| 84 |
+
v 0.02713374 -0.56802324 0.89181179
|
| 85 |
+
v 0.48472222 -0.56802324 0.92802656
|
| 86 |
+
v 0.47673531 -0.60412257 0.93803972
|
| 87 |
+
v 0.47839300 -0.62309319 0.93870263
|
| 88 |
+
v 0.46889915 -0.62309319 0.94498264
|
| 89 |
+
v 0.45413092 -0.62309319 0.95220470
|
| 90 |
+
v 0.47311862 -0.83181556 0.95210000
|
| 91 |
+
v 0.47439955 -0.85202938 0.94864599
|
| 92 |
+
v 0.46897449 -0.86653357 0.94571530
|
| 93 |
+
v 0.46347409 -0.87914992 0.94180776
|
| 94 |
+
v 0.48163298 -0.85916637 0.94083087
|
| 95 |
+
v 0.56089905 -0.84378726 0.68237305
|
| 96 |
+
v 0.56248140 -0.84516864 0.66681255
|
| 97 |
+
v 0.57935931 -0.82486274 0.66175362
|
| 98 |
+
v 0.50077136 -0.85935053 0.90067360
|
| 99 |
+
v 0.48050274 -0.87776854 0.91347785
|
| 100 |
+
v 0.48977056 -0.86828328 0.91347785
|
| 101 |
+
v 0.46814567 -0.88136005 0.92917790
|
| 102 |
+
v -0.17879239 -0.77646936 0.66175362
|
| 103 |
+
v -0.16455161 -0.78705974 0.67909348
|
| 104 |
+
v -0.12559669 -0.76790500 0.75375596
|
| 105 |
+
v -0.06893497 -0.74828979 0.84837495
|
| 106 |
+
v -0.05265980 -0.73696268 0.87084348
|
| 107 |
+
v -0.04399479 -0.71799212 0.88179863
|
| 108 |
+
v 0.13729253 -0.62309319 1.00188664
|
| 109 |
+
v 0.13857345 -0.60412257 1.00087484
|
| 110 |
+
v 0.14241620 -0.56802324 0.99808375
|
| 111 |
+
v 0.13171678 -0.56802324 0.99009413
|
| 112 |
+
v 0.47304328 -0.56802324 0.93538816
|
| 113 |
+
v 0.46731686 -0.60412257 0.94397084
|
| 114 |
+
v 0.45413092 -0.60412257 0.94986713
|
| 115 |
+
v 0.43604740 -0.62309319 0.95865914
|
| 116 |
+
v 0.45413092 -0.85078612 0.95583315
|
| 117 |
+
v 0.42655355 -0.62309319 0.96117116
|
| 118 |
+
v 0.24534158 -0.75593324 1.01022508
|
| 119 |
+
v 0.40929885 -0.88103776 0.96165958
|
| 120 |
+
v 0.45593929 -0.87159855 0.94861109
|
| 121 |
+
v 0.35113019 -0.91791986 0.96158984
|
| 122 |
+
v 0.37818014 -0.91980776 0.94491284
|
| 123 |
+
v 0.38782467 -0.91727527 0.94205195
|
| 124 |
+
v 0.30878462 -1.01093100 0.84464186
|
| 125 |
+
v 0.31496315 -1.01383182 0.83201199
|
| 126 |
+
v 0.35188369 -0.99426265 0.83026759
|
| 127 |
+
v 0.36454212 -0.99085531 0.82269665
|
| 128 |
+
v 0.36921371 -0.99347988 0.81006684
|
| 129 |
+
v 0.50227831 -0.86087004 0.88800890
|
| 130 |
+
v 0.40613424 -0.97386467 0.78069027
|
| 131 |
+
v 0.42625216 -0.95576896 0.75169752
|
| 132 |
+
v 0.54778852 -0.85571298 0.66555651
|
| 133 |
+
v 0.56202929 -0.84470816 0.66175362
|
| 134 |
+
v 0.39083860 -0.97635112 0.81530015
|
| 135 |
+
v 0.40417522 -0.97105593 0.79966991
|
| 136 |
+
v -0.16997667 -0.79378229 0.66175362
|
| 137 |
+
v -0.16771625 -0.79359812 0.66590542
|
| 138 |
+
v -0.15988002 -0.79972213 0.67162724
|
| 139 |
+
v -0.14646806 -0.82647433 0.66175362
|
| 140 |
+
v -0.13991282 -0.83549916 0.66175362
|
| 141 |
+
v -0.12295950 -0.80055094 0.72999656
|
| 142 |
+
v -0.11896605 -0.79410464 0.74290548
|
| 143 |
+
v -0.12295950 -0.78056739 0.74935995
|
| 144 |
+
v -0.10939686 -0.79392047 0.75682619
|
| 145 |
+
v -0.10600620 -0.80377412 0.75267439
|
| 146 |
+
v -0.06456479 -0.76090614 0.84293230
|
| 147 |
+
v -0.05190633 -0.76947049 0.85095676
|
| 148 |
+
v -0.04640593 -0.76242559 0.86358657
|
| 149 |
+
v -0.05070077 -0.74976320 0.86840126
|
| 150 |
+
v -0.03909716 -0.73885052 0.88127531
|
| 151 |
+
v 0.13864880 -0.75128270 1.00080504
|
| 152 |
+
v 0.13714184 -0.73696268 1.00220062
|
| 153 |
+
v 0.13699114 -0.71799212 1.00247976
|
| 154 |
+
v 0.15055378 -0.62309319 1.00903885
|
| 155 |
+
v 0.15055378 -0.60412257 1.00732929
|
| 156 |
+
v 0.15032774 -0.56802324 1.00240996
|
| 157 |
+
v 0.47138565 -0.56802324 0.93619062
|
| 158 |
+
v 0.46520706 -0.58994068 0.94267996
|
| 159 |
+
v 0.46272062 -0.57732433 0.94170307
|
| 160 |
+
v 0.43325953 -0.60596437 0.95708913
|
| 161 |
+
v 0.42572471 -0.61351580 0.96096182
|
| 162 |
+
v 0.24534158 -0.77490381 1.00907374
|
| 163 |
+
v 0.26342510 -0.56802324 0.99721149
|
| 164 |
+
v 0.25536287 -0.56802324 0.99909549
|
| 165 |
+
v 0.18852918 -0.58515201 1.01207424
|
| 166 |
+
v 0.22635388 -0.75593324 1.01360935
|
| 167 |
+
v 0.31466176 -0.88168240 0.98039501
|
| 168 |
+
v 0.34028009 -0.88877335 0.97394051
|
| 169 |
+
v 0.32129238 -0.90774392 0.97327765
|
| 170 |
+
v 0.34028009 -0.90774392 0.96898628
|
| 171 |
+
v 0.34028009 -0.92026818 0.96343893
|
| 172 |
+
v 0.31179853 -0.93624583 0.96096182
|
| 173 |
+
v 0.29582475 -0.95668986 0.94393600
|
| 174 |
+
v 0.27826867 -0.97625903 0.92610767
|
| 175 |
+
v 0.29914006 -0.97708785 0.90887251
|
| 176 |
+
v 0.28670765 -1.00982587 0.86194682
|
| 177 |
+
v 0.29612615 -1.01327926 0.84928205
|
| 178 |
+
v 0.30238004 -1.01627223 0.83804782
|
| 179 |
+
v 0.30230468 -1.02267243 0.81864952
|
| 180 |
+
v 0.31850450 -1.01571967 0.81864952
|
| 181 |
+
v 0.35926778 -0.99997222 0.79966991
|
| 182 |
+
v 0.37019326 -0.99426265 0.79966991
|
| 183 |
+
v 0.39468136 -0.97810083 0.79966991
|
| 184 |
+
v 0.37026860 -0.99421661 0.78069027
|
| 185 |
+
v 0.36936442 -0.99343384 0.77078181
|
| 186 |
+
v 0.53874677 -0.86036352 0.66175362
|
| 187 |
+
v 0.54266482 -0.85806124 0.66175362
|
| 188 |
+
v -0.13011756 -0.84714857 0.66175362
|
| 189 |
+
v -0.12830922 -0.84539885 0.66681255
|
| 190 |
+
v -0.10510204 -0.82173170 0.73236900
|
| 191 |
+
v -0.10939686 -0.80796418 0.74273104
|
| 192 |
+
v -0.10125927 -0.81744950 0.74273104
|
| 193 |
+
v 0.00678977 -0.88103776 0.81142752
|
| 194 |
+
v 0.01146135 -0.87505188 0.82405733
|
| 195 |
+
v 0.02411981 -0.88246518 0.83100025
|
| 196 |
+
v -0.03374745 -0.76970076 0.86920372
|
| 197 |
+
v -0.03977529 -0.75602533 0.87314615
|
| 198 |
+
v -0.02975402 -0.74644799 0.88500840
|
| 199 |
+
v 0.14219015 -0.76394509 0.99818839
|
| 200 |
+
v 0.14934821 -0.75694623 1.00460794
|
| 201 |
+
v 0.15055378 -0.73696268 1.00931798
|
| 202 |
+
v 0.17074705 -0.73641012 1.01591203
|
| 203 |
+
v 0.16954148 -0.62309319 1.01507467
|
| 204 |
+
v 0.16954148 -0.60412257 1.01413267
|
| 205 |
+
v 0.16954148 -0.56802324 1.01043442
|
| 206 |
+
v 0.16735639 -0.56802324 1.00956222
|
| 207 |
+
v 0.15175935 -0.56802324 1.00317752
|
| 208 |
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v 0.45722022 -0.56802324 0.94093551
|
| 209 |
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v 0.26402789 -0.56802324 0.99703705
|
| 210 |
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v 0.22635388 -0.77490381 1.01228352
|
| 211 |
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v 0.22635388 -0.79392047 1.00938778
|
| 212 |
+
v 0.18852918 -0.56802324 1.01109734
|
| 213 |
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v 0.18250134 -0.74234995 1.01817980
|
| 214 |
+
v 0.18852918 -0.60412257 1.01273710
|
| 215 |
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v 0.18250134 -0.74755306 1.01817980
|
| 216 |
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v 0.29401640 -0.89908742 0.98011587
|
| 217 |
+
v 0.30667487 -0.89434480 0.97913898
|
| 218 |
+
v 0.32106634 -0.88831287 0.97784810
|
| 219 |
+
v 0.30109911 -0.90636254 0.97732478
|
| 220 |
+
v 0.28331699 -0.91165773 0.97872030
|
| 221 |
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v 0.28331699 -0.92671448 0.97303341
|
| 222 |
+
v 0.30230468 -0.92671448 0.96943986
|
| 223 |
+
v 0.31940868 -0.92680657 0.96493915
|
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_13.obj
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.03629793 -0.56797720 0.79638971
|
| 3 |
+
v -0.00831916 -0.56797720 0.84126630
|
| 4 |
+
v -0.03592908 -0.56718204 0.79638971
|
| 5 |
+
v 0.49666849 -0.56797720 0.79638971
|
| 6 |
+
v -0.02444252 -0.54576753 0.79638971
|
| 7 |
+
v 0.00121785 -0.56797720 0.85629522
|
| 8 |
+
v 0.49672118 -0.56610944 0.79638971
|
| 9 |
+
v 0.50199027 -0.56109791 0.90148709
|
| 10 |
+
v 0.50040953 -0.56797720 0.89488694
|
| 11 |
+
v -0.01527433 -0.52938305 0.79638971
|
| 12 |
+
v 0.00785689 -0.56797720 0.86644764
|
| 13 |
+
v 0.49535123 -0.43327674 0.83760889
|
| 14 |
+
v 0.49677390 -0.43327674 0.85658946
|
| 15 |
+
v 0.49925033 -0.45228718 0.89455067
|
| 16 |
+
v 0.50199027 -0.55225844 0.90148709
|
| 17 |
+
v 0.49060908 -0.43329524 0.79638971
|
| 18 |
+
v 0.50199027 -0.56109791 0.90468205
|
| 19 |
+
v 0.50019878 -0.56797720 0.89600100
|
| 20 |
+
v 0.10633580 -0.50519465 0.95594854
|
| 21 |
+
v -0.00726534 -0.52453796 0.80385160
|
| 22 |
+
v 0.05975722 -0.41139995 0.79638971
|
| 23 |
+
v 0.01491743 -0.56797720 0.87620066
|
| 24 |
+
v 0.10264745 -0.51786213 0.96149770
|
| 25 |
+
v 0.49002948 -0.43037340 0.79638971
|
| 26 |
+
v 0.48918641 -0.41430329 0.81862831
|
| 27 |
+
v 0.49113596 -0.41430329 0.83760889
|
| 28 |
+
v 0.49745887 -0.43327674 0.87557004
|
| 29 |
+
v 0.49213710 -0.41430329 0.85658946
|
| 30 |
+
v 0.49709003 -0.43327674 0.89455067
|
| 31 |
+
v 0.48934450 -0.43327674 0.91006304
|
| 32 |
+
v 0.49103059 -0.45228718 0.91069360
|
| 33 |
+
v 0.50199027 -0.55225844 0.90468205
|
| 34 |
+
v 0.48623575 -0.56797720 0.92698371
|
| 35 |
+
v 0.49614158 -0.56797720 0.91292167
|
| 36 |
+
v 0.49666849 -0.56797720 0.91210191
|
| 37 |
+
v 0.11898157 -0.49535658 0.96477670
|
| 38 |
+
v 0.17773170 -0.40302279 0.96265378
|
| 39 |
+
v 0.16071260 -0.40596310 0.94077249
|
| 40 |
+
v 0.17757362 -0.38388287 0.94392542
|
| 41 |
+
v 0.17941780 -0.37905631 0.94127698
|
| 42 |
+
v 0.17541330 -0.37905631 0.93503419
|
| 43 |
+
v 0.17330568 -0.37905631 0.93162899
|
| 44 |
+
v 0.11144679 -0.37905631 0.82648959
|
| 45 |
+
v 0.48570884 -0.41139995 0.79638971
|
| 46 |
+
v 0.02434906 -0.56797720 0.88830789
|
| 47 |
+
v 0.12193225 -0.51834294 0.98001587
|
| 48 |
+
v 0.12440871 -0.50565696 0.97743044
|
| 49 |
+
v 0.13789753 -0.49017862 0.98279039
|
| 50 |
+
v 0.14084821 -0.48045150 0.98014195
|
| 51 |
+
v 0.02714167 -0.56797720 0.89186015
|
| 52 |
+
v 0.02998698 -0.56797720 0.89509718
|
| 53 |
+
v 0.04036705 -0.56797720 0.90686809
|
| 54 |
+
v 0.10169902 -0.52816254 0.96250661
|
| 55 |
+
v 0.48623575 -0.41287938 0.79638971
|
| 56 |
+
v 0.48634113 -0.41250951 0.79809229
|
| 57 |
+
v 0.48807993 -0.41139995 0.81862831
|
| 58 |
+
v 0.48871222 -0.41139995 0.82472398
|
| 59 |
+
v 0.48465502 -0.40045229 0.82648959
|
| 60 |
+
v 0.48528731 -0.39919481 0.83760889
|
| 61 |
+
v 0.48555078 -0.39849207 0.85658946
|
| 62 |
+
v 0.47654065 -0.37905631 0.89457166
|
| 63 |
+
v 0.49139943 -0.41430329 0.87557004
|
| 64 |
+
v 0.47179850 -0.37905631 0.91351021
|
| 65 |
+
v 0.46552828 -0.37905631 0.92513399
|
| 66 |
+
v 0.47870098 -0.43327674 0.91952177
|
| 67 |
+
v 0.48618306 -0.56609094 0.92687862
|
| 68 |
+
v 0.48476040 -0.56797720 0.92801366
|
| 69 |
+
v 0.19517232 -0.40071120 0.98350506
|
| 70 |
+
v 0.18874406 -0.39553324 0.97019972
|
| 71 |
+
v 0.17399066 -0.39614350 0.95071472
|
| 72 |
+
v 0.19986179 -0.38806222 0.97774572
|
| 73 |
+
v 0.19148397 -0.37905631 0.95737788
|
| 74 |
+
v 0.18500302 -0.37905631 0.94873887
|
| 75 |
+
v 0.47480185 -0.37905631 0.82648959
|
| 76 |
+
v 0.47611912 -0.38188570 0.82648959
|
| 77 |
+
v 0.48597228 -0.41139995 0.79874389
|
| 78 |
+
v 0.11202639 -0.52816254 0.97200742
|
| 79 |
+
v 0.12151072 -0.52816254 0.98033115
|
| 80 |
+
v 0.14242893 -0.56797720 0.99807159
|
| 81 |
+
v 0.13157465 -0.52816254 0.98758285
|
| 82 |
+
v 0.14516885 -0.50917059 0.99565432
|
| 83 |
+
v 0.15718232 -0.49017862 1.00099329
|
| 84 |
+
v 0.15950071 -0.47971180 0.99935375
|
| 85 |
+
v 0.17973394 -0.44370659 0.99821871
|
| 86 |
+
v 0.10048713 -0.56797720 0.96355760
|
| 87 |
+
v 0.10085596 -0.54713599 0.96326331
|
| 88 |
+
v 0.48080860 -0.38970806 0.83760889
|
| 89 |
+
v 0.47654065 -0.37905631 0.85658946
|
| 90 |
+
v 0.47696219 -0.37905631 0.87557004
|
| 91 |
+
v 0.45314599 -0.37905631 0.93549659
|
| 92 |
+
v 0.46684558 -0.39532984 0.92572253
|
| 93 |
+
v 0.44424124 -0.37905631 0.94190754
|
| 94 |
+
v 0.47301036 -0.56797720 0.93537046
|
| 95 |
+
v 0.20054677 -0.41041985 0.99613776
|
| 96 |
+
v 0.20655351 -0.39481204 0.98974785
|
| 97 |
+
v 0.21292908 -0.37905631 0.98302162
|
| 98 |
+
v 0.20412974 -0.37905631 0.97404634
|
| 99 |
+
v 0.47569761 -0.37905631 0.83760889
|
| 100 |
+
v 0.11160487 -0.54713599 0.97276411
|
| 101 |
+
v 0.12040421 -0.56797720 0.98131908
|
| 102 |
+
v 0.13173272 -0.56797720 0.99008417
|
| 103 |
+
v 0.15033253 -0.56797720 1.00240159
|
| 104 |
+
v 0.15470586 -0.50917059 1.00227545
|
| 105 |
+
v 0.16951194 -0.50917059 1.00813989
|
| 106 |
+
v 0.16951194 -0.49017862 1.00582777
|
| 107 |
+
v 0.16940657 -0.47253663 1.00212833
|
| 108 |
+
v 0.17572945 -0.45637408 1.00090918
|
| 109 |
+
v 0.21319254 -0.40156185 1.00128758
|
| 110 |
+
v 0.11091989 -0.56797720 0.97303737
|
| 111 |
+
v 0.37843057 -0.37905631 0.96891756
|
| 112 |
+
v 0.47137697 -0.56797720 0.93619022
|
| 113 |
+
v 0.22304570 -0.37905631 0.98972687
|
| 114 |
+
v 0.15180787 -0.56797720 1.00317933
|
| 115 |
+
v 0.16951194 -0.56797720 1.01043103
|
| 116 |
+
v 0.16951194 -0.52816254 1.00889659
|
| 117 |
+
v 0.18853329 -0.52816254 1.01097754
|
| 118 |
+
v 0.18853329 -0.50917059 1.00984249
|
| 119 |
+
v 0.22647060 -0.41430329 1.00736221
|
| 120 |
+
v 0.20750194 -0.43327674 1.00576470
|
| 121 |
+
v 0.20708042 -0.41578269 1.00248564
|
| 122 |
+
v 0.22525871 -0.37905631 0.99117720
|
| 123 |
+
v 0.22773518 -0.39527435 1.00244361
|
| 124 |
+
v 0.23932713 -0.37905631 0.99821871
|
| 125 |
+
v 0.35877695 -0.37905631 0.97642153
|
| 126 |
+
v 0.35682740 -0.37905631 0.97713620
|
| 127 |
+
v 0.34929260 -0.37905631 0.97974262
|
| 128 |
+
v 0.45720316 -0.56797720 0.94091961
|
| 129 |
+
v 0.18668911 -0.56797720 1.01110367
|
| 130 |
+
v 0.18853329 -0.56797720 1.01110367
|
| 131 |
+
v 0.24533386 -0.41430329 1.00534433
|
| 132 |
+
v 0.26435521 -0.39532984 1.00256975
|
| 133 |
+
v 0.27552564 -0.37905631 1.00023659
|
| 134 |
+
v 0.24533386 -0.39532984 1.00408315
|
| 135 |
+
v 0.25998188 -0.37905631 1.00137164
|
| 136 |
+
v 0.24696727 -0.37905631 1.00029966
|
| 137 |
+
v 0.33843833 -0.37905631 0.98335794
|
| 138 |
+
v 0.28753911 -0.41430329 0.99744097
|
| 139 |
+
v 0.28327118 -0.54713599 0.99346833
|
| 140 |
+
v 0.26888662 -0.54713599 0.99769324
|
| 141 |
+
v 0.26398638 -0.56716354 0.99716777
|
| 142 |
+
v 0.26403906 -0.56797720 0.99704163
|
| 143 |
+
v 0.22647060 -0.52816254 1.00631121
|
| 144 |
+
v 0.25534510 -0.56797720 0.99910154
|
| 145 |
+
v 0.25750542 -0.56152326 0.99947989
|
| 146 |
+
v 0.25934959 -0.54713599 1.00000536
|
| 147 |
+
v 0.24533386 -0.52816254 1.00347357
|
| 148 |
+
v 0.26435521 -0.41430329 1.00229649
|
| 149 |
+
v 0.27805479 -0.41430329 1.00002640
|
| 150 |
+
v 0.27794940 -0.39532984 1.00000536
|
| 151 |
+
v 0.27747519 -0.37905631 0.99987928
|
| 152 |
+
v 0.31852124 -0.37905631 0.98907526
|
| 153 |
+
f 1 2 3
|
| 154 |
+
f 1 3 5
|
| 155 |
+
f 1 5 10
|
| 156 |
+
f 1 10 21
|
| 157 |
+
f 1 21 44
|
| 158 |
+
f 1 44 54
|
| 159 |
+
f 1 54 24
|
| 160 |
+
f 1 24 16
|
| 161 |
+
f 1 16 7
|
| 162 |
+
f 1 7 4
|
| 163 |
+
f 1 4 9
|
| 164 |
+
f 1 9 18
|
| 165 |
+
f 1 18 35
|
| 166 |
+
f 1 35 34
|
| 167 |
+
f 1 34 33
|
| 168 |
+
f 1 33 67
|
| 169 |
+
f 1 67 93
|
| 170 |
+
f 1 93 111
|
| 171 |
+
f 1 111 127
|
| 172 |
+
f 1 127 141
|
| 173 |
+
f 1 141 143
|
| 174 |
+
f 1 143 129
|
| 175 |
+
f 1 129 128
|
| 176 |
+
f 1 128 114
|
| 177 |
+
f 1 114 113
|
| 178 |
+
f 1 113 102
|
| 179 |
+
f 1 102 79
|
| 180 |
+
f 1 79 101
|
| 181 |
+
f 1 101 100
|
| 182 |
+
f 1 100 109
|
| 183 |
+
f 1 109 85
|
| 184 |
+
f 1 85 52
|
| 185 |
+
f 1 52 51
|
| 186 |
+
f 1 51 50
|
| 187 |
+
f 1 50 45
|
| 188 |
+
f 1 45 22
|
| 189 |
+
f 1 22 11
|
| 190 |
+
f 1 11 6
|
| 191 |
+
f 1 6 2
|
| 192 |
+
f 2 5 3
|
| 193 |
+
f 2 6 5
|
| 194 |
+
f 4 7 8
|
| 195 |
+
f 4 8 9
|
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f 149 151 150
|
| 451 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_14.obj
ADDED
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@@ -0,0 +1,358 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26971635 -0.83811078 0.38450390
|
| 3 |
+
v -0.26971635 -0.84171666 0.38849330
|
| 4 |
+
v -0.26971635 -0.77421402 0.38450390
|
| 5 |
+
v -0.24801256 -0.83528965 0.38450390
|
| 6 |
+
v -0.26971635 -0.85217932 0.40054291
|
| 7 |
+
v -0.24801256 -0.85940976 0.41169695
|
| 8 |
+
v -0.26971635 -0.77421402 0.52747096
|
| 9 |
+
v -0.04026417 -0.77421402 0.38450390
|
| 10 |
+
v -0.22892672 -0.83239375 0.38450390
|
| 11 |
+
v -0.26025791 -0.86006362 0.41090993
|
| 12 |
+
v -0.26971635 -0.85698089 0.40629633
|
| 13 |
+
v -0.22901117 -0.84793818 0.40293113
|
| 14 |
+
v -0.22901117 -0.85742932 0.41443796
|
| 15 |
+
v -0.24801256 -0.86596754 0.42116838
|
| 16 |
+
v -0.26971635 -0.77490528 0.52776949
|
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_15.obj
ADDED
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.82530559 0.57517001 0.70470441
|
| 3 |
+
v 0.81902247 0.61059692 0.68568376
|
| 4 |
+
v 0.81560862 0.62957196 0.68568376
|
| 5 |
+
v 0.81531540 0.62957196 0.70470441
|
| 6 |
+
v 0.81296973 0.62957196 0.72364087
|
| 7 |
+
v 0.81537824 0.61059692 0.72364087
|
| 8 |
+
v 0.80842491 0.62957196 0.73794845
|
| 9 |
+
v 0.80905326 0.61059692 0.73904254
|
| 10 |
+
v 0.81640451 0.59162195 0.72364087
|
| 11 |
+
v 0.81548299 0.57517001 0.72406170
|
| 12 |
+
v 0.80469696 0.57517001 0.45794105
|
| 13 |
+
v 0.80913703 0.64715096 0.68568376
|
| 14 |
+
v 0.79776456 0.68080966 0.70436775
|
| 15 |
+
v 0.80572318 0.65921848 0.70899669
|
| 16 |
+
v 0.80871813 0.65032555 0.70344199
|
| 17 |
+
v 0.80572318 0.65921848 0.71522465
|
| 18 |
+
v 0.80434090 0.57517001 0.45465874
|
| 19 |
+
v 0.78565909 0.67433643 0.53385530
|
| 20 |
+
v 0.80794322 0.64829879 0.72237844
|
| 21 |
+
v 0.79571206 0.68080966 0.74266149
|
| 22 |
+
v 0.80691700 0.64181521 0.73576020
|
| 23 |
+
v 0.79062276 0.68080966 0.75671657
|
| 24 |
+
v 0.61136507 0.57517001 0.88211815
|
| 25 |
+
v 0.80825737 0.59162195 0.73744345
|
| 26 |
+
v 0.81368180 0.57517001 0.72624989
|
| 27 |
+
v 0.79776456 0.68080966 0.72330421
|
| 28 |
+
v 0.78609886 0.67602195 0.54664793
|
| 29 |
+
v 0.78419298 0.68080966 0.55001442
|
| 30 |
+
v 0.80209993 0.57517001 0.43748967
|
| 31 |
+
v 0.79210974 0.61059692 0.43908875
|
| 32 |
+
v 0.78800475 0.62427756 0.43908875
|
| 33 |
+
v 0.78704137 0.62184750 0.42688524
|
| 34 |
+
v 0.78402544 0.66788391 0.51382472
|
| 35 |
+
v 0.78180540 0.68080966 0.53385530
|
| 36 |
+
v 0.77721872 0.68080966 0.76462785
|
| 37 |
+
v 0.66414337 0.57517001 0.84214116
|
| 38 |
+
v 0.61136507 0.68080966 0.80889712
|
| 39 |
+
v 0.61136507 0.57517001 0.02231795
|
| 40 |
+
v 0.80677039 0.57937863 0.73475027
|
| 41 |
+
v 0.80545094 0.57517001 0.73382451
|
| 42 |
+
v 0.78182633 0.57517001 0.32412329
|
| 43 |
+
v 0.78325053 0.63375987 0.43908875
|
| 44 |
+
v 0.77860100 0.57517001 0.30619676
|
| 45 |
+
v 0.77372110 0.57517001 0.28608201
|
| 46 |
+
v 0.77338602 0.57517001 0.28490374
|
| 47 |
+
v 0.76980463 0.57517001 0.27278439
|
| 48 |
+
v 0.77640195 0.68080966 0.51576044
|
| 49 |
+
v 0.72255551 0.57517001 0.79736689
|
| 50 |
+
v 0.61136507 0.68080966 0.24560004
|
| 51 |
+
v 0.61136507 0.58278072 0.03048167
|
| 52 |
+
v 0.61454854 0.58112620 0.03216492
|
| 53 |
+
v 0.61729218 0.57517001 0.02879841
|
| 54 |
+
v 0.76580439 0.57517001 0.26411569
|
| 55 |
+
v 0.76710290 0.58188108 0.27833909
|
| 56 |
+
v 0.77039107 0.68080966 0.49901218
|
| 57 |
+
v 0.61934468 0.68080966 0.25418457
|
| 58 |
+
v 0.61136507 0.61424715 0.07845405
|
| 59 |
+
v 0.61136507 0.58686523 0.03502638
|
| 60 |
+
v 0.61136507 0.59122895 0.04032864
|
| 61 |
+
v 0.65582869 0.57517001 0.07828572
|
| 62 |
+
v 0.64127280 0.57517001 0.05951759
|
| 63 |
+
v 0.70684772 0.57517001 0.15436828
|
| 64 |
+
v 0.72906901 0.61978975 0.27842326
|
| 65 |
+
v 0.76951140 0.68080966 0.49707645
|
| 66 |
+
v 0.63063332 0.68080966 0.26908126
|
| 67 |
+
v 0.61136507 0.61341992 0.07660252
|
| 68 |
+
v 0.67375657 0.65869109 0.27615089
|
| 69 |
+
v 0.68083553 0.65169053 0.26924959
|
| 70 |
+
v 0.69587317 0.64222886 0.26823964
|
| 71 |
+
v 0.69248030 0.63976781 0.25746690
|
| 72 |
+
v 0.61136507 0.59693699 0.04748243
|
| 73 |
+
v 0.65901216 0.57517001 0.08266216
|
| 74 |
+
v 0.61362702 0.59911885 0.05320540
|
| 75 |
+
v 0.70582144 0.57517001 0.15251673
|
| 76 |
+
v 0.70307780 0.57517001 0.14763532
|
| 77 |
+
v 0.69796752 0.57517001 0.13862998
|
| 78 |
+
v 0.71271193 0.62224045 0.25477370
|
| 79 |
+
v 0.71664939 0.62562183 0.26823964
|
| 80 |
+
v 0.70894207 0.63796854 0.28061148
|
| 81 |
+
v 0.76469434 0.68080966 0.48866024
|
| 82 |
+
v 0.75828554 0.68080966 0.47805580
|
| 83 |
+
v 0.61136507 0.60676055 0.06279988
|
| 84 |
+
v 0.68634374 0.65522701 0.28726029
|
| 85 |
+
v 0.70536068 0.63510420 0.26823964
|
| 86 |
+
v 0.61136507 0.60019427 0.05160637
|
| 87 |
+
v 0.66376638 0.57517001 0.08922679
|
| 88 |
+
v 0.69036496 0.57517001 0.12608982
|
| 89 |
+
v 0.68257388 0.57517001 0.11523291
|
| 90 |
+
v 0.69537049 0.57517001 0.13425354
|
| 91 |
+
v 0.69222893 0.58274966 0.14351138
|
| 92 |
+
v 0.68822869 0.57964747 0.13088706
|
| 93 |
+
v 0.61136507 0.60239683 0.05514116
|
| 94 |
+
f 1 2 3
|
| 95 |
+
f 1 3 4
|
| 96 |
+
f 1 4 5
|
| 97 |
+
f 1 5 6
|
| 98 |
+
f 1 6 7
|
| 99 |
+
f 1 7 8
|
| 100 |
+
f 1 8 9
|
| 101 |
+
f 1 9 10
|
| 102 |
+
f 1 10 25
|
| 103 |
+
f 1 25 40
|
| 104 |
+
f 1 40 48
|
| 105 |
+
f 1 48 36
|
| 106 |
+
f 1 36 23
|
| 107 |
+
f 1 23 38
|
| 108 |
+
f 1 38 52
|
| 109 |
+
f 1 52 61
|
| 110 |
+
f 1 61 60
|
| 111 |
+
f 1 60 72
|
| 112 |
+
f 1 72 86
|
| 113 |
+
f 1 86 88
|
| 114 |
+
f 1 88 87
|
| 115 |
+
f 1 87 89
|
| 116 |
+
f 1 89 76
|
| 117 |
+
f 1 76 75
|
| 118 |
+
f 1 75 74
|
| 119 |
+
f 1 74 62
|
| 120 |
+
f 1 62 53
|
| 121 |
+
f 1 53 46
|
| 122 |
+
f 1 46 45
|
| 123 |
+
f 1 45 44
|
| 124 |
+
f 1 44 43
|
| 125 |
+
f 1 43 41
|
| 126 |
+
f 1 41 29
|
| 127 |
+
f 1 29 17
|
| 128 |
+
f 1 17 11
|
| 129 |
+
f 1 11 2
|
| 130 |
+
f 2 11 3
|
| 131 |
+
f 3 12 13
|
| 132 |
+
f 3 13 14
|
| 133 |
+
f 3 14 15
|
| 134 |
+
f 3 15 16
|
| 135 |
+
f 3 16 4
|
| 136 |
+
f 3 11 17
|
| 137 |
+
f 3 17 18
|
| 138 |
+
f 3 18 12
|
| 139 |
+
f 4 16 19
|
| 140 |
+
f 4 19 5
|
| 141 |
+
f 5 19 20
|
| 142 |
+
f 5 20 21
|
| 143 |
+
f 5 21 7
|
| 144 |
+
f 5 7 6
|
| 145 |
+
f 7 21 22
|
| 146 |
+
f 7 22 8
|
| 147 |
+
f 8 22 23
|
| 148 |
+
f 8 23 24
|
| 149 |
+
f 8 24 10
|
| 150 |
+
f 8 10 9
|
| 151 |
+
f 10 24 25
|
| 152 |
+
f 12 18 13
|
| 153 |
+
f 13 26 16
|
| 154 |
+
f 13 16 14
|
| 155 |
+
f 13 18 27
|
| 156 |
+
f 13 27 28
|
| 157 |
+
f 13 28 34
|
| 158 |
+
f 13 34 47
|
| 159 |
+
f 13 47 55
|
| 160 |
+
f 13 55 64
|
| 161 |
+
f 13 64 80
|
| 162 |
+
f 13 80 81
|
| 163 |
+
f 13 81 65
|
| 164 |
+
f 13 65 56
|
| 165 |
+
f 13 56 49
|
| 166 |
+
f 13 49 37
|
| 167 |
+
f 13 37 35
|
| 168 |
+
f 13 35 22
|
| 169 |
+
f 13 22 20
|
| 170 |
+
f 13 20 26
|
| 171 |
+
f 14 16 15
|
| 172 |
+
f 16 26 20
|
| 173 |
+
f 16 20 19
|
| 174 |
+
f 17 29 30
|
| 175 |
+
f 17 30 18
|
| 176 |
+
f 18 30 31
|
| 177 |
+
f 18 31 32
|
| 178 |
+
f 18 32 33
|
| 179 |
+
f 18 33 34
|
| 180 |
+
f 18 34 28
|
| 181 |
+
f 18 28 27
|
| 182 |
+
f 20 22 21
|
| 183 |
+
f 22 35 23
|
| 184 |
+
f 23 36 24
|
| 185 |
+
f 23 35 37
|
| 186 |
+
f 23 37 49
|
| 187 |
+
f 23 49 57
|
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+
f 23 57 66
|
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+
f 23 66 82
|
| 190 |
+
f 23 82 92
|
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+
f 23 92 85
|
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+
f 23 85 71
|
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+
f 23 71 59
|
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+
f 23 59 58
|
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+
f 23 58 50
|
| 196 |
+
f 23 50 38
|
| 197 |
+
f 24 39 25
|
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+
f 24 36 39
|
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+
f 25 39 40
|
| 200 |
+
f 29 32 30
|
| 201 |
+
f 29 41 32
|
| 202 |
+
f 30 32 31
|
| 203 |
+
f 32 42 33
|
| 204 |
+
f 32 41 43
|
| 205 |
+
f 32 43 44
|
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+
f 32 44 45
|
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+
f 32 45 46
|
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+
f 32 46 42
|
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+
f 33 47 34
|
| 210 |
+
f 33 42 47
|
| 211 |
+
f 36 48 39
|
| 212 |
+
f 38 50 51
|
| 213 |
+
f 38 51 52
|
| 214 |
+
f 39 48 40
|
| 215 |
+
f 42 46 47
|
| 216 |
+
f 46 53 54
|
| 217 |
+
f 46 54 47
|
| 218 |
+
f 47 54 55
|
| 219 |
+
f 49 56 57
|
| 220 |
+
f 50 58 51
|
| 221 |
+
f 51 58 59
|
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+
f 51 59 60
|
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+
f 51 60 61
|
| 224 |
+
f 51 61 52
|
| 225 |
+
f 53 62 54
|
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+
f 54 62 63
|
| 227 |
+
f 54 63 64
|
| 228 |
+
f 54 64 55
|
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+
f 56 65 57
|
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+
f 57 65 67
|
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+
f 57 67 68
|
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+
f 57 68 69
|
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+
f 57 69 70
|
| 234 |
+
f 57 70 66
|
| 235 |
+
f 59 71 60
|
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+
f 60 71 73
|
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+
f 60 73 72
|
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+
f 62 74 63
|
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+
f 63 74 75
|
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+
f 63 75 76
|
| 241 |
+
f 63 76 77
|
| 242 |
+
f 63 77 78
|
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+
f 63 78 79
|
| 244 |
+
f 63 79 64
|
| 245 |
+
f 64 79 69
|
| 246 |
+
f 64 69 80
|
| 247 |
+
f 65 81 67
|
| 248 |
+
f 66 70 82
|
| 249 |
+
f 67 83 69
|
| 250 |
+
f 67 69 68
|
| 251 |
+
f 67 81 83
|
| 252 |
+
f 69 79 84
|
| 253 |
+
f 69 84 70
|
| 254 |
+
f 69 83 80
|
| 255 |
+
f 70 84 82
|
| 256 |
+
f 71 85 73
|
| 257 |
+
f 72 73 86
|
| 258 |
+
f 73 85 87
|
| 259 |
+
f 73 87 88
|
| 260 |
+
f 73 88 86
|
| 261 |
+
f 76 89 90
|
| 262 |
+
f 76 90 77
|
| 263 |
+
f 77 84 78
|
| 264 |
+
f 77 90 91
|
| 265 |
+
f 77 91 84
|
| 266 |
+
f 78 84 79
|
| 267 |
+
f 80 83 81
|
| 268 |
+
f 82 91 87
|
| 269 |
+
f 82 87 92
|
| 270 |
+
f 82 84 91
|
| 271 |
+
f 85 92 87
|
| 272 |
+
f 87 91 89
|
| 273 |
+
f 89 91 90
|
| 274 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_16.obj
ADDED
|
@@ -0,0 +1,202 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26970951 -0.69103912 0.45402340
|
| 3 |
+
v -0.26970951 -0.69103912 0.51490283
|
| 4 |
+
v -0.26970951 -0.56797720 0.45402340
|
| 5 |
+
v 0.51981266 -0.69103912 0.45402340
|
| 6 |
+
v -0.26970951 -0.65182939 0.56272796
|
| 7 |
+
v -0.16400801 -0.69103912 0.65965924
|
| 8 |
+
v -0.26970951 -0.56797720 0.66124529
|
| 9 |
+
v 0.49750794 -0.56797720 0.45402340
|
| 10 |
+
v 0.52145273 -0.69034045 0.45402340
|
| 11 |
+
v 0.52243675 -0.69103912 0.45713447
|
| 12 |
+
v -0.26970951 -0.57481933 0.65351844
|
| 13 |
+
v -0.16228595 -0.69103912 0.66175362
|
| 14 |
+
v -0.26970951 -0.57366290 0.65484011
|
| 15 |
+
v -0.12054657 -0.56797720 0.66175362
|
| 16 |
+
v 0.51735260 -0.56797720 0.53517565
|
| 17 |
+
v 0.52153472 -0.57361471 0.54050311
|
| 18 |
+
v 0.50472418 -0.58482954 0.45402340
|
| 19 |
+
v 0.52481483 -0.68400428 0.45402340
|
| 20 |
+
v 0.54014936 -0.69103912 0.48198240
|
| 21 |
+
v 0.56516019 -0.69103912 0.66175362
|
| 22 |
+
v 0.53465515 -0.56797720 0.66175362
|
| 23 |
+
v 0.52096072 -0.56797720 0.55290672
|
| 24 |
+
v 0.52276476 -0.57141028 0.55290672
|
| 25 |
+
v 0.52866896 -0.58511864 0.55290672
|
| 26 |
+
v 0.51710658 -0.61539024 0.45402340
|
| 27 |
+
v 0.51128439 -0.60057365 0.45402340
|
| 28 |
+
v 0.52629089 -0.68072776 0.45402340
|
| 29 |
+
v 0.53645923 -0.67998090 0.47275084
|
| 30 |
+
v 0.54088736 -0.69103912 0.48346676
|
| 31 |
+
v 0.56786627 -0.69103912 0.64778429
|
| 32 |
+
v 0.53949332 -0.58150483 0.66175362
|
| 33 |
+
v 0.53875531 -0.57899927 0.66175362
|
| 34 |
+
v 0.53440916 -0.56797720 0.65050904
|
| 35 |
+
v 0.53432715 -0.56797720 0.64778429
|
| 36 |
+
v 0.53178507 -0.58511864 0.57187818
|
| 37 |
+
v 0.53785328 -0.60383812 0.57075982
|
| 38 |
+
v 0.53932931 -0.63300148 0.52543575
|
| 39 |
+
v 0.54023135 -0.64944431 0.50201120
|
| 40 |
+
v 0.53654121 -0.64268646 0.49582972
|
| 41 |
+
v 0.52186275 -0.62896612 0.45402340
|
| 42 |
+
v 0.52825894 -0.66100842 0.45402340
|
| 43 |
+
v 0.54113338 -0.67998090 0.48224673
|
| 44 |
+
v 0.53022702 -0.66100842 0.45800882
|
| 45 |
+
v 0.54867763 -0.69103912 0.50703364
|
| 46 |
+
v 0.56803027 -0.69103912 0.62881285
|
| 47 |
+
v 0.54547953 -0.60410317 0.64778429
|
| 48 |
+
v 0.54121537 -0.58849154 0.64778429
|
| 49 |
+
v 0.53842730 -0.57899927 0.64778429
|
| 50 |
+
v 0.53883730 -0.59709237 0.59084963
|
| 51 |
+
v 0.55884596 -0.66927203 0.57909669
|
| 52 |
+
v 0.55876397 -0.68869017 0.54241448
|
| 53 |
+
v 0.54137938 -0.64555340 0.51498417
|
| 54 |
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v 0.53891932 -0.65419038 0.48938390
|
| 55 |
+
v 0.54588953 -0.66100842 0.51498417
|
| 56 |
+
v 0.52456883 -0.63797647 0.45402340
|
| 57 |
+
v 0.52752094 -0.65479272 0.45402340
|
| 58 |
+
v 0.54031336 -0.66683869 0.48364976
|
| 59 |
+
v 0.54523351 -0.67998090 0.49599240
|
| 60 |
+
v 0.55392581 -0.69103912 0.52366670
|
| 61 |
+
v 0.53711524 -0.66070728 0.47720394
|
| 62 |
+
v 0.56770227 -0.69103912 0.62086232
|
| 63 |
+
v 0.56704625 -0.69103912 0.60984141
|
| 64 |
+
v 0.56647222 -0.69103912 0.60189087
|
| 65 |
+
v 0.56311010 -0.69103912 0.57208151
|
| 66 |
+
v 0.56089603 -0.69103912 0.55290672
|
| 67 |
+
v 0.55982999 -0.69103912 0.54483421
|
| 68 |
+
v 0.55909198 -0.69103912 0.54172312
|
| 69 |
+
v 0.55802594 -0.69103912 0.53753436
|
| 70 |
+
f 1 2 5
|
| 71 |
+
f 1 5 11
|
| 72 |
+
f 1 11 13
|
| 73 |
+
f 1 13 7
|
| 74 |
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f 1 7 3
|
| 75 |
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f 1 3 8
|
| 76 |
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f 1 8 17
|
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f 1 17 26
|
| 78 |
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f 1 26 25
|
| 79 |
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f 1 25 40
|
| 80 |
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f 1 40 55
|
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f 1 55 56
|
| 82 |
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f 1 56 41
|
| 83 |
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f 1 41 27
|
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f 1 27 18
|
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f 1 18 9
|
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f 1 9 4
|
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f 1 4 10
|
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f 1 10 19
|
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f 1 19 29
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f 1 29 44
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f 1 44 59
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f 1 59 68
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f 1 68 67
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f 1 67 66
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f 1 66 65
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f 1 65 64
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f 1 64 63
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f 1 63 62
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f 1 62 61
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f 1 61 45
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f 1 45 30
|
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f 1 30 20
|
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f 1 20 12
|
| 104 |
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f 1 12 6
|
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f 1 6 2
|
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f 2 6 5
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f 3 7 14
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f 3 14 21
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f 3 21 33
|
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f 3 33 34
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f 3 34 22
|
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f 3 22 15
|
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f 3 15 8
|
| 114 |
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f 4 9 10
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f 5 6 11
|
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f 6 12 7
|
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f 6 7 13
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| 118 |
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f 6 13 11
|
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f 7 12 14
|
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f 8 15 16
|
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f 8 16 17
|
| 122 |
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f 9 18 19
|
| 123 |
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f 9 19 10
|
| 124 |
+
f 12 20 31
|
| 125 |
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f 12 31 32
|
| 126 |
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f 12 32 21
|
| 127 |
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f 12 21 14
|
| 128 |
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f 15 22 16
|
| 129 |
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f 16 23 24
|
| 130 |
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f 16 24 25
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| 131 |
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f 16 25 26
|
| 132 |
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f 16 26 17
|
| 133 |
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f 16 22 23
|
| 134 |
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f 18 27 19
|
| 135 |
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f 19 28 29
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f 19 27 28
|
| 137 |
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f 20 30 31
|
| 138 |
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f 21 32 33
|
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f 22 34 23
|
| 140 |
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f 23 34 35
|
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f 23 35 24
|
| 142 |
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f 24 35 36
|
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f 24 36 37
|
| 144 |
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f 24 37 38
|
| 145 |
+
f 24 38 39
|
| 146 |
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f 24 39 25
|
| 147 |
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f 25 39 40
|
| 148 |
+
f 27 41 28
|
| 149 |
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f 28 42 29
|
| 150 |
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f 28 41 43
|
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f 28 43 42
|
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f 29 42 44
|
| 153 |
+
f 30 45 46
|
| 154 |
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f 30 46 31
|
| 155 |
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f 31 47 48
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f 31 48 32
|
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f 31 46 47
|
| 158 |
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f 32 48 33
|
| 159 |
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f 33 48 34
|
| 160 |
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f 34 48 49
|
| 161 |
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f 34 49 35
|
| 162 |
+
f 35 49 36
|
| 163 |
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f 36 49 50
|
| 164 |
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f 36 50 37
|
| 165 |
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f 37 50 51
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| 166 |
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f 37 51 52
|
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f 37 52 38
|
| 168 |
+
f 38 53 39
|
| 169 |
+
f 38 52 54
|
| 170 |
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f 38 54 51
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| 171 |
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f 38 51 53
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| 172 |
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f 39 53 40
|
| 173 |
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f 40 53 55
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| 174 |
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f 41 56 43
|
| 175 |
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f 42 57 58
|
| 176 |
+
f 42 58 59
|
| 177 |
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f 42 59 44
|
| 178 |
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f 42 43 57
|
| 179 |
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f 43 56 55
|
| 180 |
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f 43 55 60
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f 43 60 57
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f 45 61 46
|
| 183 |
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f 46 61 47
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| 184 |
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f 47 49 48
|
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f 47 61 62
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| 186 |
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f 47 62 50
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| 187 |
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f 47 50 49
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| 188 |
+
f 50 62 63
|
| 189 |
+
f 50 63 64
|
| 190 |
+
f 50 64 65
|
| 191 |
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f 50 65 66
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| 192 |
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f 50 66 51
|
| 193 |
+
f 51 66 57
|
| 194 |
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f 51 57 53
|
| 195 |
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f 51 54 52
|
| 196 |
+
f 53 57 60
|
| 197 |
+
f 53 60 55
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| 198 |
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f 57 66 67
|
| 199 |
+
f 57 67 68
|
| 200 |
+
f 57 68 58
|
| 201 |
+
f 58 68 59
|
| 202 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_17.obj
ADDED
|
@@ -0,0 +1,133 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.13564204 -0.56797720 0.52153678
|
| 3 |
+
v -0.13564204 -0.56797720 0.65037942
|
| 4 |
+
v -0.13564204 -0.47766952 0.52153678
|
| 5 |
+
v 0.51380684 -0.56797720 0.52153678
|
| 6 |
+
v -0.13564204 -0.52319909 0.70052823
|
| 7 |
+
v -0.06790771 -0.56797720 0.75239890
|
| 8 |
+
v -0.13564204 -0.47766952 0.73442713
|
| 9 |
+
v 0.48486221 -0.47766952 0.52153678
|
| 10 |
+
v 0.51741669 -0.56797720 0.53517705
|
| 11 |
+
v -0.13564204 -0.51535738 0.70927201
|
| 12 |
+
v -0.06272262 -0.56797720 0.76012033
|
| 13 |
+
v -0.13564204 -0.47774907 0.73464235
|
| 14 |
+
v -0.13537953 -0.47766952 0.73466927
|
| 15 |
+
v 0.50173016 -0.47766952 0.63671225
|
| 16 |
+
v 0.50218962 -0.47934923 0.63485588
|
| 17 |
+
v 0.50842483 -0.49021445 0.64782357
|
| 18 |
+
v 0.51682600 -0.51101661 0.64949161
|
| 19 |
+
v 0.52063279 -0.51855771 0.65691707
|
| 20 |
+
v 0.52096092 -0.56797720 0.55290669
|
| 21 |
+
v 0.51971387 -0.56797720 0.54644977
|
| 22 |
+
v -0.13564204 -0.51468550 0.70999841
|
| 23 |
+
v -0.06213190 -0.56797720 0.76098124
|
| 24 |
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v -0.13564204 -0.48877343 0.72944990
|
| 25 |
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v -0.03627209 -0.56797720 0.79638675
|
| 26 |
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v -0.03594393 -0.56719923 0.79638675
|
| 27 |
+
v -0.02668952 -0.54993333 0.79638675
|
| 28 |
+
v -0.02445798 -0.54578705 0.79638675
|
| 29 |
+
v -0.01533484 -0.52939640 0.79638675
|
| 30 |
+
v -0.00194550 -0.50916007 0.79638675
|
| 31 |
+
v 0.02345487 -0.47766952 0.79638675
|
| 32 |
+
v 0.50323977 -0.47766952 0.64782357
|
| 33 |
+
v 0.52063279 -0.51855771 0.65753587
|
| 34 |
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v 0.53487538 -0.56797720 0.66676388
|
| 35 |
+
v 0.53435031 -0.56797720 0.64782357
|
| 36 |
+
v -0.13564204 -0.50591551 0.71836550
|
| 37 |
+
v -0.05189301 -0.56797720 0.77575148
|
| 38 |
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v -0.13564204 -0.48896792 0.72934229
|
| 39 |
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v -0.13564204 -0.50519060 0.71903812
|
| 40 |
+
v 0.49667633 -0.56797720 0.79638675
|
| 41 |
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v 0.48912841 -0.47766952 0.79638675
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| 42 |
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v 0.50323977 -0.47766952 0.64849616
|
| 43 |
+
v 0.50264903 -0.47766952 0.66676388
|
| 44 |
+
v 0.53185617 -0.56797720 0.68567731
|
| 45 |
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v 0.52601475 -0.56797720 0.70615115
|
| 46 |
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v 0.49667633 -0.56612064 0.79638675
|
| 47 |
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f 1 2 5
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| 48 |
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_18.obj
ADDED
|
@@ -0,0 +1,103 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
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v 0.61137203 0.68080971 0.24557202
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| 3 |
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v 0.61137203 0.68483569 0.25086591
|
| 4 |
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v 0.61137203 0.69292073 0.26206033
|
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|
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v 0.63063083 0.68080971 0.26906371
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v 0.68270216 0.68080971 0.75444823
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v 0.68270216 0.80039612 0.74336414
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| 11 |
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v 0.68270216 0.81152973 0.73851142
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v 0.61137203 0.73795207 0.77308720
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v 0.61137203 0.69361662 0.26305292
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v 0.61646953 0.69684732 0.27595681
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v 0.61137203 0.79320574 0.43907513
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v 0.68270216 0.68080971 0.35939090
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_19.obj
ADDED
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# https://github.com/mikedh/trimesh
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| 2 |
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v -0.13564204 -0.56797720 0.38450390
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| 3 |
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v -0.13564204 -0.56797720 0.52153677
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v -0.13564204 -0.47766952 0.38450390
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v 0.49288910 -0.56797720 0.38450390
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v -0.13564204 -0.47766952 0.52153677
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v 0.51385583 -0.56797720 0.52153677
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v 0.55088358 -0.47766952 0.38450390
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v 0.48489219 -0.47766952 0.52153677
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_20.obj
ADDED
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@@ -0,0 +1,283 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.68270222 0.68080966 0.35937631
|
| 3 |
+
v 0.68270222 0.77357814 0.53804576
|
| 4 |
+
v 0.69101555 0.77163317 0.54409553
|
| 5 |
+
v 0.71251984 0.75451215 0.54060011
|
| 6 |
+
v 0.72923660 0.73385737 0.52464667
|
| 7 |
+
v 0.68417794 0.68080966 0.36143771
|
| 8 |
+
v 0.68270222 0.68080966 0.75444778
|
| 9 |
+
v 0.68270222 0.77931712 0.55148967
|
| 10 |
+
v 0.70100732 0.76764741 0.55144485
|
| 11 |
+
v 0.75234050 0.81205249 0.74651586
|
| 12 |
+
v 0.76499073 0.80828585 0.75624029
|
| 13 |
+
v 0.73310041 0.73713095 0.53732875
|
| 14 |
+
v 0.76975564 0.79286325 0.72868028
|
| 15 |
+
v 0.73920587 0.72866632 0.53217525
|
| 16 |
+
v 0.76470910 0.68080966 0.48870665
|
| 17 |
+
v 0.75827694 0.68080966 0.47813078
|
| 18 |
+
v 0.74572813 0.68080966 0.45774086
|
| 19 |
+
v 0.69111696 0.68080966 0.37174470
|
| 20 |
+
v 0.68679132 0.68080966 0.36524681
|
| 21 |
+
v 0.75783762 0.68080966 0.76766760
|
| 22 |
+
v 0.75783762 0.69100008 0.77506172
|
| 23 |
+
v 0.75783762 0.70549132 0.78344179
|
| 24 |
+
v 0.76343616 0.75155369 0.81037438
|
| 25 |
+
v 0.75739830 0.76164824 0.81328725
|
| 26 |
+
v 0.74582949 0.76746935 0.81118102
|
| 27 |
+
v 0.74517613 0.78139903 0.81171876
|
| 28 |
+
v 0.73570253 0.78139903 0.80271135
|
| 29 |
+
v 0.71672156 0.78139903 0.78388989
|
| 30 |
+
v 0.70768728 0.78139903 0.77438953
|
| 31 |
+
v 0.68270222 0.80039646 0.74333414
|
| 32 |
+
v 0.68270222 0.80935421 0.65792055
|
| 33 |
+
v 0.74042242 0.81553144 0.74118311
|
| 34 |
+
v 0.75833328 0.81366871 0.76220040
|
| 35 |
+
v 0.77168195 0.81261404 0.78061857
|
| 36 |
+
v 0.77306746 0.79593133 0.74266194
|
| 37 |
+
v 0.74616746 0.73192615 0.55292368
|
| 38 |
+
v 0.78255231 0.78578197 0.74266194
|
| 39 |
+
v 0.77290976 0.68676776 0.51662515
|
| 40 |
+
v 0.76752526 0.69619120 0.52410892
|
| 41 |
+
v 0.75105630 0.71794171 0.53396777
|
| 42 |
+
v 0.76951910 0.68080966 0.49717630
|
| 43 |
+
v 0.77722415 0.68080966 0.76466513
|
| 44 |
+
v 0.77144535 0.69215063 0.77470323
|
| 45 |
+
v 0.76919245 0.75155369 0.81037438
|
| 46 |
+
v 0.77114121 0.76241523 0.81274951
|
| 47 |
+
v 0.75783762 0.78139903 0.81718596
|
| 48 |
+
v 0.74664055 0.79404117 0.81055362
|
| 49 |
+
v 0.70868986 0.80038277 0.77326922
|
| 50 |
+
v 0.71034574 0.80992946 0.77125264
|
| 51 |
+
v 0.68270222 0.81153200 0.73853913
|
| 52 |
+
v 0.68270222 0.81205249 0.66827235
|
| 53 |
+
v 0.71988693 0.81633956 0.72370603
|
| 54 |
+
v 0.71988693 0.82073625 0.74266194
|
| 55 |
+
v 0.75783762 0.81695592 0.78061857
|
| 56 |
+
v 0.77355186 0.81376459 0.79961928
|
| 57 |
+
v 0.78116681 0.80149226 0.78061857
|
| 58 |
+
v 0.78521083 0.78893224 0.75807762
|
| 59 |
+
v 0.78706948 0.77338639 0.73015912
|
| 60 |
+
v 0.77641309 0.68080966 0.51577371
|
| 61 |
+
v 0.77039775 0.68080966 0.49905844
|
| 62 |
+
v 0.79062910 0.68080966 0.75673320
|
| 63 |
+
v 0.78764399 0.74884173 0.79204586
|
| 64 |
+
v 0.77261688 0.78139903 0.81454198
|
| 65 |
+
v 0.77278589 0.80038277 0.81310800
|
| 66 |
+
v 0.77075822 0.81216205 0.81077773
|
| 67 |
+
v 0.76366150 0.81216205 0.81077773
|
| 68 |
+
v 0.75753348 0.80036909 0.81315280
|
| 69 |
+
v 0.75101122 0.80669700 0.80665491
|
| 70 |
+
v 0.70564836 0.81275098 0.76166266
|
| 71 |
+
v 0.68270222 0.81376459 0.72370603
|
| 72 |
+
v 0.71988693 0.81754491 0.76166266
|
| 73 |
+
v 0.69903605 0.81518907 0.74449928
|
| 74 |
+
v 0.68270222 0.81405221 0.68574943
|
| 75 |
+
v 0.68270222 0.81447683 0.70466052
|
| 76 |
+
v 0.75753348 0.81442202 0.80002258
|
| 77 |
+
v 0.73886790 0.81884608 0.76166266
|
| 78 |
+
v 0.78221441 0.79932816 0.79805080
|
| 79 |
+
v 0.78654005 0.79228795 0.79070147
|
| 80 |
+
v 0.78651748 0.79201402 0.78061857
|
| 81 |
+
v 0.78635979 0.79097309 0.77071487
|
| 82 |
+
v 0.78811708 0.77629010 0.74266194
|
| 83 |
+
v 0.79192456 0.76241523 0.74266194
|
| 84 |
+
v 0.78895065 0.76292203 0.72379568
|
| 85 |
+
v 0.78179760 0.68080966 0.53396777
|
| 86 |
+
v 0.79570946 0.68080966 0.74266194
|
| 87 |
+
v 0.79079811 0.76241523 0.78061857
|
| 88 |
+
v 0.78767776 0.76241523 0.79218031
|
| 89 |
+
v 0.78211299 0.78139903 0.80064997
|
| 90 |
+
v 0.79599109 0.68652121 0.74266194
|
| 91 |
+
v 0.79276938 0.76241523 0.76166266
|
| 92 |
+
v 0.78831986 0.78212496 0.76332074
|
| 93 |
+
v 0.79371562 0.74345886 0.74266194
|
| 94 |
+
v 0.79775964 0.68080966 0.70439162
|
| 95 |
+
v 0.78420825 0.68080966 0.55010047
|
| 96 |
+
v 0.79777089 0.68080966 0.72334753
|
| 97 |
+
f 1 2 3
|
| 98 |
+
f 1 3 4
|
| 99 |
+
f 1 4 5
|
| 100 |
+
f 1 5 6
|
| 101 |
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f 1 6 19
|
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+
f 1 19 18
|
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+
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|
| 104 |
+
f 1 17 16
|
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f 1 16 15
|
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|
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f 1 41 60
|
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|
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|
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|
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|
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|
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f 1 95 85
|
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|
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f 1 61 42
|
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f 1 42 20
|
| 117 |
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f 1 20 7
|
| 118 |
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f 1 7 30
|
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f 1 30 50
|
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f 1 50 70
|
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f 1 70 74
|
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f 1 74 73
|
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f 1 73 51
|
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f 1 51 31
|
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f 1 31 8
|
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f 1 8 2
|
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f 2 8 3
|
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f 3 9 4
|
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f 3 8 10
|
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f 3 10 11
|
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f 3 11 9
|
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f 4 12 5
|
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|
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|
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|
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|
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|
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|
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f 5 16 17
|
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|
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|
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f 5 19 6
|
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f 7 20 21
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 8 31 32
|
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|
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f 10 32 33
|
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|
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|
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|
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f 11 35 13
|
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|
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|
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|
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f 13 37 38
|
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|
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|
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|
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f 14 36 40
|
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|
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f 14 41 15
|
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f 20 42 43
|
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|
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|
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f 27 48 28
|
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f 28 48 29
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|
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|
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|
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|
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|
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|
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f 50 69 71
|
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|
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f 50 72 70
|
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f 51 73 53
|
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f 51 53 52
|
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+
f 53 73 74
|
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f 53 74 70
|
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f 53 70 72
|
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|
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|
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f 53 75 76
|
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f 53 76 54
|
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+
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|
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f 54 75 55
|
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f 55 75 65
|
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f 55 65 77
|
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|
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f 55 78 56
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 61 85 62
|
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|
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|
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f 62 88 63
|
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+
f 62 85 89
|
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+
f 62 89 86
|
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+
f 63 88 64
|
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f 64 88 77
|
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f 64 77 65
|
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f 65 75 66
|
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f 66 75 71
|
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f 66 71 69
|
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f 77 88 78
|
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+
f 78 88 87
|
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+
f 78 87 86
|
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f 78 86 90
|
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f 78 90 79
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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f 90 95 93
|
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f 90 93 92
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+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_21.obj
ADDED
|
@@ -0,0 +1,397 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.38855391 -0.74140682 -0.12357789
|
| 3 |
+
v 0.27609944 -0.82434824 -0.03543665
|
| 4 |
+
v 0.38804694 -0.74140682 -0.13034600
|
| 5 |
+
v 0.38411782 -0.74140682 0.11637946
|
| 6 |
+
v 0.33123349 -0.78483404 0.05943383
|
| 7 |
+
v 0.33126520 -0.78486363 0.04819252
|
| 8 |
+
v 0.30927494 -0.80158989 0.04045195
|
| 9 |
+
v 0.27597270 -0.82414128 -0.01645477
|
| 10 |
+
v 0.26434385 -0.83128715 -0.01645477
|
| 11 |
+
v 0.26434385 -0.83093233 -0.03543665
|
| 12 |
+
v 0.27540235 -0.82358934 -0.04827274
|
| 13 |
+
v 0.37378812 -0.75006072 -0.14932791
|
| 14 |
+
v 0.38617742 -0.74140682 -0.14536036
|
| 15 |
+
v 0.38392772 -0.74140682 0.11882999
|
| 16 |
+
v 0.33091663 -0.78450875 0.06970270
|
| 17 |
+
v 0.32128403 -0.79208834 0.05943383
|
| 18 |
+
v 0.29856498 -0.80464536 0.05324916
|
| 19 |
+
v 0.29980074 -0.80620265 0.04045195
|
| 20 |
+
v 0.27448345 -0.82274169 0.01341835
|
| 21 |
+
v 0.24568065 -0.83938910 -0.01493778
|
| 22 |
+
v 0.23956521 -0.84209959 -0.02026671
|
| 23 |
+
v 0.23956521 -0.84209959 -0.02773499
|
| 24 |
+
v 0.31554881 -0.78563237 -0.12322782
|
| 25 |
+
v 0.32806487 -0.78315842 -0.11136413
|
| 26 |
+
v 0.37109479 -0.74833583 -0.16418664
|
| 27 |
+
v 0.38329399 -0.74291485 -0.14932791
|
| 28 |
+
v 0.38535358 -0.74140682 -0.14909453
|
| 29 |
+
v 0.38044223 -0.74140682 0.13613927
|
| 30 |
+
v 0.36894011 -0.74654200 0.14508565
|
| 31 |
+
v 0.32660730 -0.78365126 0.08238322
|
| 32 |
+
v 0.30385658 -0.80083093 0.05951163
|
| 33 |
+
v 0.26434385 -0.80560144 0.07452599
|
| 34 |
+
v 0.25616881 -0.82272195 0.03185566
|
| 35 |
+
v 0.24539548 -0.83485514 0.00252711
|
| 36 |
+
v 0.23440036 -0.84209959 -0.02026671
|
| 37 |
+
v 0.22644711 -0.81190950 0.07841570
|
| 38 |
+
v 0.23440036 -0.84209959 -0.02773499
|
| 39 |
+
v 0.30230396 -0.78649976 -0.12420025
|
| 40 |
+
v 0.35924413 -0.74613791 -0.17706165
|
| 41 |
+
v 0.37752709 -0.74140682 -0.16943776
|
| 42 |
+
v 0.37483376 -0.74140682 0.15095914
|
| 43 |
+
v 0.36130373 -0.74140682 0.15772727
|
| 44 |
+
v 0.24457164 -0.74140682 0.21004411
|
| 45 |
+
v 0.24168819 -0.80489175 0.09047386
|
| 46 |
+
v 0.25433099 -0.80320634 0.08755657
|
| 47 |
+
v 0.24694811 -0.80789795 0.08008829
|
| 48 |
+
v 0.24539548 -0.82884278 0.02147010
|
| 49 |
+
v 0.17869595 -0.82248540 -0.00634147
|
| 50 |
+
v 0.20746706 -0.81183065 0.07841570
|
| 51 |
+
v 0.19491931 -0.80569997 0.09113511
|
| 52 |
+
v 0.22644711 -0.80625197 0.09276881
|
| 53 |
+
v 0.20746706 -0.80686302 0.09327449
|
| 54 |
+
v 0.17869595 -0.82248540 -0.00781957
|
| 55 |
+
v 0.18221312 -0.82127309 -0.02046117
|
| 56 |
+
v 0.15578680 -0.80646878 -0.02952424
|
| 57 |
+
v 0.21700461 -0.82231786 -0.04488867
|
| 58 |
+
v 0.22961574 -0.82568873 -0.04780598
|
| 59 |
+
v 0.27407152 -0.78431163 -0.12073838
|
| 60 |
+
v 0.28671433 -0.78595766 -0.12291661
|
| 61 |
+
v 0.30230396 -0.77884138 -0.13369116
|
| 62 |
+
v 0.34026408 -0.74560566 -0.17702273
|
| 63 |
+
v 0.35946594 -0.74140682 -0.18207939
|
| 64 |
+
v 0.37683001 -0.74140682 -0.16998235
|
| 65 |
+
v 0.24438151 -0.74140682 0.21012191
|
| 66 |
+
v 0.23737886 -0.74687713 0.20265363
|
| 67 |
+
v 0.22644711 -0.74804018 0.20401503
|
| 68 |
+
v 0.11858716 -0.78655887 0.00252711
|
| 69 |
+
v 0.18855037 -0.80663631 0.07701540
|
| 70 |
+
v 0.15892374 -0.80392582 0.03259471
|
| 71 |
+
v 0.15673739 -0.80528605 0.02147010
|
| 72 |
+
v 0.12143892 -0.78480446 0.03243911
|
| 73 |
+
v 0.11972786 -0.78588866 0.02147010
|
| 74 |
+
v 0.18972276 -0.74140682 0.21350597
|
| 75 |
+
v 0.17109125 -0.74140682 0.19094554
|
| 76 |
+
v 0.12460754 -0.78283319 0.04508074
|
| 77 |
+
v 0.17841078 -0.80370902 0.06974162
|
| 78 |
+
v 0.20746706 -0.75473264 0.19226805
|
| 79 |
+
v 0.15420249 -0.80781910 -0.01645477
|
| 80 |
+
v 0.17121800 -0.81766562 -0.01505447
|
| 81 |
+
v 0.16554617 -0.79953977 -0.04216587
|
| 82 |
+
v 0.26434385 -0.78175883 -0.11801555
|
| 83 |
+
v 0.17818897 -0.80377797 -0.04531654
|
| 84 |
+
v 0.17093282 -0.80862733 -0.03567002
|
| 85 |
+
v 0.11994967 -0.78569154 -0.01023121
|
| 86 |
+
v 0.12403719 -0.78245863 -0.02287282
|
| 87 |
+
v 0.10442341 -0.76410607 -0.02407862
|
| 88 |
+
v 0.13668000 -0.78849078 -0.02975762
|
| 89 |
+
v 0.15448766 -0.74140682 -0.08837584
|
| 90 |
+
v 0.16839792 -0.74140682 -0.09817796
|
| 91 |
+
v 0.26434385 -0.77226713 -0.12688416
|
| 92 |
+
v 0.27594102 -0.76452005 -0.13902012
|
| 93 |
+
v 0.28861552 -0.76715170 -0.14127613
|
| 94 |
+
v 0.30230396 -0.76935952 -0.14337659
|
| 95 |
+
v 0.32128403 -0.74228406 -0.17410544
|
| 96 |
+
v 0.34026408 -0.74140682 -0.18067912
|
| 97 |
+
v 0.22644711 -0.74140682 0.21436171
|
| 98 |
+
v 0.20746706 -0.74140682 0.21529525
|
| 99 |
+
v 0.10911297 -0.77941300 0.00252711
|
| 100 |
+
v 0.11022199 -0.77882164 0.02147010
|
| 101 |
+
v 0.13116660 -0.78794862 0.03944063
|
| 102 |
+
v 0.11272520 -0.77500721 0.04017968
|
| 103 |
+
v 0.10093792 -0.76718128 0.03527862
|
| 104 |
+
v 0.09843472 -0.76932993 0.02147010
|
| 105 |
+
v 0.08499975 -0.74140682 0.05927825
|
| 106 |
+
v 0.10768709 -0.76136600 0.05943383
|
| 107 |
+
v 0.11719296 -0.76976360 0.05943383
|
| 108 |
+
v 0.10397980 -0.76456932 0.04792023
|
| 109 |
+
v 0.25084552 -0.76830490 -0.12338340
|
| 110 |
+
v 0.07733167 -0.75243613 0.00252711
|
| 111 |
+
v 0.10043095 -0.76796977 -0.01143702
|
| 112 |
+
v 0.11218653 -0.77521423 -0.01715490
|
| 113 |
+
v 0.08034186 -0.74997203 -0.01159260
|
| 114 |
+
v 0.08591865 -0.74427501 -0.02423423
|
| 115 |
+
v 0.09859315 -0.75145047 -0.02971873
|
| 116 |
+
v 0.08471457 -0.74140682 -0.02536223
|
| 117 |
+
v 0.16950694 -0.74140682 -0.09880030
|
| 118 |
+
v 0.26434385 -0.76098159 -0.13637507
|
| 119 |
+
v 0.26434385 -0.75148989 -0.14360997
|
| 120 |
+
v 0.26352001 -0.74140682 -0.15076709
|
| 121 |
+
v 0.28040877 -0.74140682 -0.15800194
|
| 122 |
+
v 0.28332391 -0.74140682 -0.15924666
|
| 123 |
+
v 0.32128403 -0.74140682 -0.17484449
|
| 124 |
+
v 0.08892884 -0.76147443 0.02147010
|
| 125 |
+
v 0.06491067 -0.74140682 0.02158679
|
| 126 |
+
v 0.08072211 -0.74937076 0.03695122
|
| 127 |
+
v 0.07409969 -0.74140682 0.04208565
|
| 128 |
+
v 0.08427096 -0.74626603 0.04959282
|
| 129 |
+
v 0.25325367 -0.74774447 -0.14073160
|
| 130 |
+
v 0.06573452 -0.74140682 0.00268271
|
| 131 |
+
v 0.07612761 -0.74140682 -0.01540454
|
| 132 |
+
v 0.08107065 -0.74140682 -0.02135583
|
| 133 |
+
v 0.17711164 -0.74140682 -0.10304011
|
| 134 |
+
v 0.24926121 -0.74140682 -0.14322099
|
| 135 |
+
f 1 2 3
|
| 136 |
+
f 1 3 13
|
| 137 |
+
f 1 13 27
|
| 138 |
+
f 1 27 40
|
| 139 |
+
f 1 40 63
|
| 140 |
+
f 1 63 62
|
| 141 |
+
f 1 62 95
|
| 142 |
+
f 1 95 122
|
| 143 |
+
f 1 122 121
|
| 144 |
+
f 1 121 120
|
| 145 |
+
f 1 120 119
|
| 146 |
+
f 1 119 133
|
| 147 |
+
f 1 133 132
|
| 148 |
+
f 1 132 116
|
| 149 |
+
f 1 116 89
|
| 150 |
+
f 1 89 88
|
| 151 |
+
f 1 88 115
|
| 152 |
+
f 1 115 131
|
| 153 |
+
f 1 131 130
|
| 154 |
+
f 1 130 129
|
| 155 |
+
f 1 129 124
|
| 156 |
+
f 1 124 126
|
| 157 |
+
f 1 126 104
|
| 158 |
+
f 1 104 74
|
| 159 |
+
f 1 74 73
|
| 160 |
+
f 1 73 97
|
| 161 |
+
f 1 97 96
|
| 162 |
+
f 1 96 64
|
| 163 |
+
f 1 64 43
|
| 164 |
+
f 1 43 42
|
| 165 |
+
f 1 42 41
|
| 166 |
+
f 1 41 28
|
| 167 |
+
f 1 28 14
|
| 168 |
+
f 1 14 4
|
| 169 |
+
f 1 4 5
|
| 170 |
+
f 1 5 6
|
| 171 |
+
f 1 6 7
|
| 172 |
+
f 1 7 2
|
| 173 |
+
f 2 8 9
|
| 174 |
+
f 2 9 10
|
| 175 |
+
f 2 10 11
|
| 176 |
+
f 2 11 12
|
| 177 |
+
f 2 12 3
|
| 178 |
+
f 2 7 8
|
| 179 |
+
f 3 12 13
|
| 180 |
+
f 4 14 15
|
| 181 |
+
f 4 15 5
|
| 182 |
+
f 5 15 16
|
| 183 |
+
f 5 16 7
|
| 184 |
+
f 5 7 6
|
| 185 |
+
f 7 16 17
|
| 186 |
+
f 7 17 18
|
| 187 |
+
f 7 18 19
|
| 188 |
+
f 7 19 9
|
| 189 |
+
f 7 9 8
|
| 190 |
+
f 9 19 20
|
| 191 |
+
f 9 20 21
|
| 192 |
+
f 9 21 22
|
| 193 |
+
f 9 22 10
|
| 194 |
+
f 10 22 11
|
| 195 |
+
f 11 22 23
|
| 196 |
+
f 11 23 24
|
| 197 |
+
f 11 24 12
|
| 198 |
+
f 12 25 26
|
| 199 |
+
f 12 26 27
|
| 200 |
+
f 12 27 13
|
| 201 |
+
f 12 24 25
|
| 202 |
+
f 14 28 15
|
| 203 |
+
f 15 28 29
|
| 204 |
+
f 15 29 16
|
| 205 |
+
f 16 29 30
|
| 206 |
+
f 16 30 31
|
| 207 |
+
f 16 31 17
|
| 208 |
+
f 17 31 32
|
| 209 |
+
f 17 32 33
|
| 210 |
+
f 17 33 34
|
| 211 |
+
f 17 34 20
|
| 212 |
+
f 17 20 19
|
| 213 |
+
f 17 19 18
|
| 214 |
+
f 20 34 21
|
| 215 |
+
f 21 35 37
|
| 216 |
+
f 21 37 22
|
| 217 |
+
f 21 34 36
|
| 218 |
+
f 21 36 35
|
| 219 |
+
f 22 37 38
|
| 220 |
+
f 22 38 23
|
| 221 |
+
f 23 38 39
|
| 222 |
+
f 23 39 25
|
| 223 |
+
f 23 25 24
|
| 224 |
+
f 25 39 40
|
| 225 |
+
f 25 40 27
|
| 226 |
+
f 25 27 26
|
| 227 |
+
f 28 41 29
|
| 228 |
+
f 29 41 42
|
| 229 |
+
f 29 42 43
|
| 230 |
+
f 29 43 44
|
| 231 |
+
f 29 44 45
|
| 232 |
+
f 29 45 31
|
| 233 |
+
f 29 31 30
|
| 234 |
+
f 31 45 32
|
| 235 |
+
f 32 45 46
|
| 236 |
+
f 32 46 33
|
| 237 |
+
f 33 46 47
|
| 238 |
+
f 33 47 34
|
| 239 |
+
f 34 47 36
|
| 240 |
+
f 35 48 53
|
| 241 |
+
f 35 53 37
|
| 242 |
+
f 35 36 49
|
| 243 |
+
f 35 49 50
|
| 244 |
+
f 35 50 48
|
| 245 |
+
f 36 46 44
|
| 246 |
+
f 36 44 51
|
| 247 |
+
f 36 51 52
|
| 248 |
+
f 36 52 49
|
| 249 |
+
f 36 47 46
|
| 250 |
+
f 37 53 54
|
| 251 |
+
f 37 54 55
|
| 252 |
+
f 37 55 56
|
| 253 |
+
f 37 56 57
|
| 254 |
+
f 37 57 58
|
| 255 |
+
f 37 58 59
|
| 256 |
+
f 37 59 38
|
| 257 |
+
f 38 59 60
|
| 258 |
+
f 38 60 61
|
| 259 |
+
f 38 61 39
|
| 260 |
+
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_22.obj
ADDED
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.13565517 -0.47774907 0.73462167
|
| 3 |
+
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|
| 4 |
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_23.obj
ADDED
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.26954754 -0.47766066 0.38454712
|
| 3 |
+
v -0.26963564 -0.47766066 0.58104231
|
| 4 |
+
v -0.26954754 -0.37907562 0.38454712
|
| 5 |
+
v 0.55076386 -0.47766066 0.38454712
|
| 6 |
+
v -0.26963564 -0.37907562 0.58104231
|
| 7 |
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v -0.26963564 -0.47766066 0.73375654
|
| 8 |
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v -0.11667532 -0.37905631 0.79635640
|
| 9 |
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v 0.63050413 -0.37907562 0.38454712
|
| 10 |
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v 0.56301128 -0.46617484 0.38454712
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| 11 |
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v 0.48899823 -0.47766066 0.79635640
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|
| 13 |
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v -0.26963564 -0.44583817 0.75240238
|
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|
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|
| 17 |
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v 0.47137606 -0.37905631 0.79938472
|
| 18 |
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v 0.47401939 -0.37905631 0.81859296
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v 0.47472428 -0.37905631 0.82646663
|
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v 0.62847760 -0.37907562 0.40111641
|
| 22 |
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v 0.62098817 -0.39540671 0.38454712
|
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|
| 28 |
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v 0.48891010 -0.41140000 0.82646663
|
| 29 |
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v -0.26963564 -0.39532950 0.77883537
|
| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 39 |
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| 40 |
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| 42 |
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v 0.11153161 -0.37905631 0.82646663
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| 45 |
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v 0.01769364 -0.37905631 0.82607730
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| 46 |
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f 1 2 5
|
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f 1 5 3
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f 1 3 8
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|
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|
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|
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f 7 18 17
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|
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|
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|
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|
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|
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|
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f 10 22 23
|
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f 10 23 24
|
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f 10 24 25
|
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f 10 25 21
|
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f 10 21 20
|
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f 10 20 26
|
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f 10 26 27
|
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f 10 27 32
|
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f 10 32 13
|
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f 11 28 13
|
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f 11 13 29
|
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f 11 29 30
|
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f 11 30 14
|
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f 12 13 31
|
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f 13 32 33
|
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f 13 33 34
|
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+
f 13 34 29
|
| 111 |
+
f 13 28 35
|
| 112 |
+
f 13 35 36
|
| 113 |
+
f 13 36 37
|
| 114 |
+
f 13 37 31
|
| 115 |
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f 19 38 39
|
| 116 |
+
f 19 39 40
|
| 117 |
+
f 19 40 26
|
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+
f 19 26 20
|
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f 19 41 32
|
| 120 |
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f 19 32 27
|
| 121 |
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f 19 27 42
|
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f 19 42 38
|
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|
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f 32 43 44
|
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f 32 44 33
|
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f 38 42 39
|
| 130 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_00.obj
ADDED
|
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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v 0.07072667 -0.91264658 0.55259389
|
| 8 |
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|
| 9 |
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|
| 10 |
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v -0.47341415 -0.98522605 0.73874296
|
| 11 |
+
v -0.01959796 -1.05017982 0.22252913
|
| 12 |
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v 0.07072667 -0.99935931 0.43361114
|
| 13 |
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v 0.07072667 -0.91264658 -0.11169114
|
| 14 |
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v -0.44563442 -0.91264658 0.75222708
|
| 15 |
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v -0.49307108 -0.98522605 0.73967583
|
| 16 |
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v -0.48234907 -0.98522605 0.73950621
|
| 17 |
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v -0.01959796 -1.05027410 0.19623927
|
| 18 |
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v 0.07072667 -1.01508245 0.22252913
|
| 19 |
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v -0.50273716 -0.98522605 0.73848853
|
| 20 |
+
v -0.62790819 -0.98522605 0.71067220
|
| 21 |
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v -0.72643669 -0.98522605 0.68802901
|
| 22 |
+
v -0.73732117 -0.98522605 0.68531522
|
| 23 |
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v -0.74203236 -0.98522605 0.68294063
|
| 24 |
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v -0.75437893 -0.98522605 0.66869323
|
| 25 |
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v -0.75900889 -0.98522605 0.66241760
|
| 26 |
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v 0.07072667 -0.93808376 -0.03392406
|
| 27 |
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v -0.01959796 -1.04438643 0.17427454
|
| 28 |
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v -0.01959796 -1.03857951 0.16011194
|
| 29 |
+
v -0.24508458 -0.98522605 0.19802020
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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v 0.06154798 -0.91264658 -0.10431303
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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v -0.01959796 -1.04460197 0.17495299
|
| 38 |
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v 0.07072667 -1.01285939 0.19598486
|
| 39 |
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v -0.75860265 -0.98522605 0.65571793
|
| 40 |
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|
| 41 |
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|
| 42 |
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v -0.64114822 -0.97575451 0.70770398
|
| 43 |
+
v -0.69345850 -0.94937416 0.69566155
|
| 44 |
+
v -0.69345850 -0.91264658 0.69557674
|
| 45 |
+
v -0.71977610 -0.94937416 0.68947069
|
| 46 |
+
v -0.73683386 -0.97575451 0.68531522
|
| 47 |
+
v -0.73512807 -0.94937416 0.68531522
|
| 48 |
+
v -0.73407214 -0.93249239 0.68489117
|
| 49 |
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v -0.72814248 -0.91977380 0.67098301
|
| 50 |
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v 0.07072667 -1.00439826 0.16910138
|
| 51 |
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v -0.30438038 -0.98522605 0.24135604
|
| 52 |
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v -0.68574198 -0.94937416 0.57396500
|
| 53 |
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v -0.68176179 -0.91264658 0.57735722
|
| 54 |
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v -0.50428048 -0.91264658 0.73899735
|
| 55 |
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v -0.50436164 -0.92299388 0.73899735
|
| 56 |
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v -0.53514674 -0.92299388 0.73195848
|
| 57 |
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v -0.73334106 -0.93557777 0.65758366
|
| 58 |
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v -0.68915346 -0.91264658 0.59135021
|
| 59 |
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v -0.72456853 -0.91264658 0.67030453
|
| 60 |
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v -0.68314265 -0.91264658 0.69795129
|
| 61 |
+
v -0.70994764 -0.91264658 0.69108199
|
| 62 |
+
v -0.71831401 -0.91264658 0.68811382
|
| 63 |
+
v -0.72383744 -0.91264658 0.67632577
|
| 64 |
+
v -0.55122979 -0.91264658 0.72822702
|
| 65 |
+
f 1 2 3
|
| 66 |
+
f 1 3 4
|
| 67 |
+
f 1 4 5
|
| 68 |
+
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|
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f 1 12 6
|
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f 1 6 2
|
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|
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f 2 13 8
|
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f 2 8 7
|
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f 3 7 8
|
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f 3 8 9
|
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f 3 9 10
|
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f 3 10 11
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f 3 11 4
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f 4 11 5
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f 8 13 14
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f 8 14 15
|
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f 8 15 9
|
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f 9 15 10
|
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f 10 16 17
|
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f 10 17 11
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f 10 15 14
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f 10 14 18
|
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f 10 18 19
|
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f 10 19 20
|
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f 10 20 21
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f 10 21 22
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f 10 22 23
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f 10 23 24
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f 10 24 16
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f 12 25 26
|
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f 12 26 27
|
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f 12 27 28
|
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f 12 28 29
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f 12 29 30
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f 12 30 31
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f 12 31 32
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f 13 33 34
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f 13 34 35
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f 13 35 18
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f 13 18 14
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f 16 36 37
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f 53 55 54
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f 55 63 59
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f 56 58 57
|
| 187 |
+
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_01.obj
ADDED
|
@@ -0,0 +1,709 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v -0.03246356 -0.98524390 0.14540194
|
| 3 |
+
v -0.20083966 -0.98524390 0.18281209
|
| 4 |
+
v -0.01960150 -0.98524390 0.14627465
|
| 5 |
+
v -0.20522443 -1.43813682 0.18287028
|
| 6 |
+
v -0.20639376 -1.43813682 0.18287028
|
| 7 |
+
v -0.27143486 -1.50345735 0.19299371
|
| 8 |
+
v -0.29781670 -1.50345735 0.19654271
|
| 9 |
+
v -0.29781670 -1.47702069 0.19601909
|
| 10 |
+
v -0.32419855 -1.50345735 0.20061536
|
| 11 |
+
v -0.20303205 -0.98524390 0.18333571
|
| 12 |
+
v -0.01960150 -0.98524390 0.32861275
|
| 13 |
+
v -0.01960150 -1.02495393 0.15366359
|
| 14 |
+
v -0.04459482 -1.07567928 0.15517630
|
| 15 |
+
v -0.17701562 -1.38972471 0.18153212
|
| 16 |
+
v -0.22882927 -1.52350510 0.20462983
|
| 17 |
+
v -0.24329910 -1.53132598 0.20003356
|
| 18 |
+
v -0.24505301 -1.50345735 0.19142283
|
| 19 |
+
v -0.27143486 -1.52978384 0.19543728
|
| 20 |
+
v -0.34210311 -1.52130210 0.20701523
|
| 21 |
+
v -0.34341854 -1.50345735 0.20608435
|
| 22 |
+
v -0.32419855 -1.47702069 0.20125536
|
| 23 |
+
v -0.21874426 -0.98524390 0.18723382
|
| 24 |
+
v -0.03041732 -0.98524390 0.43368697
|
| 25 |
+
v -0.01960150 -1.04373500 0.23918913
|
| 26 |
+
v -0.01960150 -1.03861293 0.16017983
|
| 27 |
+
v -0.02135541 -1.04136671 0.15738715
|
| 28 |
+
v -0.15026835 -1.33734705 0.18071758
|
| 29 |
+
v -0.22670998 -1.52565314 0.22254946
|
| 30 |
+
v -0.25089940 -1.54713286 0.20445528
|
| 31 |
+
v -0.12454424 -1.28309681 0.18083395
|
| 32 |
+
v -0.20354362 -1.46826357 0.20457164
|
| 33 |
+
v -0.21574797 -1.50345735 0.22254946
|
| 34 |
+
v -0.27143486 -1.54790397 0.20346621
|
| 35 |
+
v -0.29781670 -1.54487474 0.20695706
|
| 36 |
+
v -0.32193307 -1.53000418 0.20567707
|
| 37 |
+
v -0.31162878 -1.54316738 0.20916792
|
| 38 |
+
v -0.36826571 -1.52168766 0.23028749
|
| 39 |
+
v -0.35664603 -1.50345735 0.21492779
|
| 40 |
+
v -0.34144539 -1.47702069 0.20701523
|
| 41 |
+
v -0.24505301 -0.98524390 0.19799723
|
| 42 |
+
v -0.04700648 -1.12144771 0.28934082
|
| 43 |
+
v -0.01996688 -1.04472637 0.24029456
|
| 44 |
+
v -0.03465595 -0.98524390 0.46004278
|
| 45 |
+
v -0.11986714 -1.31873126 0.43357060
|
| 46 |
+
v -0.09129289 -1.23964163 0.38085895
|
| 47 |
+
v -0.01960150 -1.04560757 0.23470921
|
| 48 |
+
v -0.01960150 -1.04467125 0.17489952
|
| 49 |
+
v -0.09933168 -1.22791032 0.18188121
|
| 50 |
+
v -0.22795232 -1.52179775 0.24308722
|
| 51 |
+
v -0.25089940 -1.54713286 0.21510235
|
| 52 |
+
v -0.20653991 -1.48798090 0.24896347
|
| 53 |
+
v -0.17818487 -1.43874264 0.32808912
|
| 54 |
+
v -0.17825796 -1.43846725 0.34280883
|
| 55 |
+
v -0.15808789 -1.39539755 0.33012544
|
| 56 |
+
v -0.14281424 -1.37149441 0.38085895
|
| 57 |
+
v -0.17876953 -1.43824691 0.31133310
|
| 58 |
+
v -0.12315572 -1.28645647 0.19619364
|
| 59 |
+
v -0.10415495 -1.24322156 0.19619364
|
| 60 |
+
v -0.04298706 -1.10393347 0.19619364
|
| 61 |
+
v -0.07806542 -1.18963226 0.22254946
|
| 62 |
+
v -0.27143486 -1.54790397 0.21667321
|
| 63 |
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|
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|
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|
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|
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f 231 236 232
|
| 707 |
+
f 232 236 237
|
| 708 |
+
f 232 237 233
|
| 709 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_02.obj
ADDED
|
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.65168708 -0.28153118 0.10089488
|
| 3 |
+
v 0.65168708 -0.28153118 0.30488389
|
| 4 |
+
v 0.65168708 -0.14228531 0.10089488
|
| 5 |
+
v 0.65173057 -0.74288636 0.03139942
|
| 6 |
+
v 0.65173057 -0.79530995 0.17167533
|
| 7 |
+
v 0.65173057 -0.84195454 0.29650482
|
| 8 |
+
v 0.65173057 -0.84498165 0.30488389
|
| 9 |
+
v 0.65168708 -0.14228531 0.30488389
|
| 10 |
+
v 0.85006400 -0.14228531 0.10089488
|
| 11 |
+
v 0.65173057 -0.28159997 0.03139942
|
| 12 |
+
v 0.86248967 -0.65317458 0.03139942
|
| 13 |
+
v 0.88178000 -0.65049150 0.04451682
|
| 14 |
+
v 0.94234443 -0.66211823 0.14337921
|
| 15 |
+
v 0.97097568 -0.65847197 0.16765979
|
| 16 |
+
v 1.02015716 -0.66700285 0.25080807
|
| 17 |
+
v 1.05469716 -0.67092430 0.30488389
|
| 18 |
+
v 0.82195407 -0.14228531 0.30488389
|
| 19 |
+
v 1.09201774 -0.49906846 0.30488389
|
| 20 |
+
v 1.09397288 -0.50223314 0.30488389
|
| 21 |
+
v 1.08823792 -0.51234635 0.28734940
|
| 22 |
+
v 0.93161314 -0.48283229 0.07396405
|
| 23 |
+
v 0.89772481 -0.47450781 0.03139942
|
| 24 |
+
v 0.89759451 -0.47409503 0.03139942
|
| 25 |
+
v 0.88595080 -0.45015353 0.03139942
|
| 26 |
+
v 0.80353276 -0.28159997 0.03139942
|
| 27 |
+
v 1.07676807 -0.47760369 0.30488389
|
| 28 |
+
v 0.87548019 -0.63666319 0.03139942
|
| 29 |
+
v 0.90667483 -0.65000989 0.07267907
|
| 30 |
+
v 0.98774610 -0.65324339 0.17496806
|
| 31 |
+
v 0.99595748 -0.65771521 0.19590237
|
| 32 |
+
v 1.07485642 -0.66067352 0.30488389
|
| 33 |
+
v 1.09432045 -0.50491624 0.30488389
|
| 34 |
+
v 1.09549347 -0.52562425 0.30488389
|
| 35 |
+
v 1.08823792 -0.51544223 0.28734940
|
| 36 |
+
v 0.93161314 -0.49101918 0.07396405
|
| 37 |
+
v 0.90784793 -0.49377107 0.04406173
|
| 38 |
+
v 0.87687048 -0.63267294 0.03139942
|
| 39 |
+
v 0.93161314 -0.64918433 0.10086811
|
| 40 |
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v 1.07476945 -0.65936634 0.30188563
|
| 41 |
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|
| 42 |
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|
| 43 |
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v 1.07737625 -0.65902235 0.30488389
|
| 44 |
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v 1.08815102 -0.63267294 0.30488389
|
| 45 |
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v 1.03584138 -0.64877157 0.23413023
|
| 46 |
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|
| 47 |
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v 0.88490816 -0.63267294 0.04082253
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| 48 |
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|
| 49 |
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v 1.06629746 -0.65379377 0.28132611
|
| 50 |
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v 1.08684762 -0.64436851 0.30488389
|
| 51 |
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f 1 2 8
|
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f 1 8 3
|
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f 1 3 10
|
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|
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|
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f 43 49 44
|
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f 44 49 48
|
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f 47 48 49
|
| 145 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_03.obj
ADDED
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@@ -0,0 +1,193 @@
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| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.46803017 -0.91265090 0.15591769
|
| 3 |
+
v 0.07073552 -0.91265090 0.15591769
|
| 4 |
+
v 0.29679990 -1.09520701 0.15591769
|
| 5 |
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v 0.35521186 -1.04963943 -0.19964960
|
| 6 |
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v 0.41595718 -0.97575538 -0.19964960
|
| 7 |
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v 0.46783573 -0.91265090 -0.19964960
|
| 8 |
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v 0.07073552 -1.00013907 0.15591769
|
| 9 |
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v 0.07073552 -0.91265090 -0.11167251
|
| 10 |
+
v 0.29228873 -1.09520701 0.15591769
|
| 11 |
+
v 0.29691657 -1.09526064 0.14333230
|
| 12 |
+
v 0.32806702 -1.07266452 -0.09410125
|
| 13 |
+
v 0.32748368 -1.07270030 -0.06772420
|
| 14 |
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v 0.32674479 -1.07248578 -0.04138738
|
| 15 |
+
v 0.32802814 -1.07203888 -0.12047826
|
| 16 |
+
v 0.32709478 -1.07076961 -0.14689554
|
| 17 |
+
v 0.33304487 -1.06301118 -0.19743810
|
| 18 |
+
v 0.35330628 -1.04727978 -0.21730130
|
| 19 |
+
v 0.37811776 -1.01899894 -0.21685901
|
| 20 |
+
v 0.40292921 -0.99073595 -0.21565272
|
| 21 |
+
v 0.46663015 -0.91265090 -0.21026474
|
| 22 |
+
v 0.29469987 -1.09493886 0.12149887
|
| 23 |
+
v 0.27910520 -1.09148861 0.15591769
|
| 24 |
+
v 0.07073552 -0.99572355 0.14236730
|
| 25 |
+
v 0.29512766 -1.04232788 -0.21388356
|
| 26 |
+
v 0.31165568 -1.05834536 -0.19743810
|
| 27 |
+
v 0.32215583 -1.06819537 -0.18714462
|
| 28 |
+
v 0.13470867 -0.91265090 -0.24239166
|
| 29 |
+
v 0.16344797 -0.93664133 -0.23981828
|
| 30 |
+
v 0.07073552 -0.94429251 -0.01492992
|
| 31 |
+
v 0.28602752 -1.09404500 0.15591769
|
| 32 |
+
v 0.29329985 -1.09526064 0.14333230
|
| 33 |
+
v 0.29656657 -1.09493886 0.12149887
|
| 34 |
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v 0.32460586 -1.06914286 -0.17327255
|
| 35 |
+
v 0.32262251 -1.06819537 -0.18714462
|
| 36 |
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v 0.33549491 -1.05140922 -0.22047778
|
| 37 |
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v 0.33549491 -1.02850932 -0.23065067
|
| 38 |
+
v 0.42847960 -0.93683792 -0.23941621
|
| 39 |
+
v 0.45570221 -0.91265090 -0.24026061
|
| 40 |
+
v 0.45671334 -0.91265090 -0.23901410
|
| 41 |
+
v 0.46379123 -0.91265090 -0.22602661
|
| 42 |
+
v 0.07073552 -0.96985606 0.06323616
|
| 43 |
+
v 0.24200466 -0.98971698 -0.23973787
|
| 44 |
+
v 0.30912786 -1.04769089 -0.21794466
|
| 45 |
+
v 0.13505867 -0.91265090 -0.24283395
|
| 46 |
+
v 0.14287545 -0.91265090 -0.24693528
|
| 47 |
+
v 0.21104866 -0.96640589 -0.24166789
|
| 48 |
+
v 0.30912786 -1.02850932 -0.22876084
|
| 49 |
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v 0.25639376 -0.99064662 -0.23985850
|
| 50 |
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v 0.27603294 -0.99044995 -0.23953684
|
| 51 |
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v 0.30912786 -1.00214123 -0.23636031
|
| 52 |
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v 0.33549491 -1.00214123 -0.23503340
|
| 53 |
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v 0.41467384 -0.94000210 -0.23985850
|
| 54 |
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v 0.43960199 -0.91265090 -0.24227103
|
| 55 |
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v 0.43878531 -0.92183950 -0.24082349
|
| 56 |
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v 0.16687024 -0.91265090 -0.25352950
|
| 57 |
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v 0.19327618 -0.91265090 -0.25485641
|
| 58 |
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v 0.15228669 -0.91265090 -0.24954884
|
| 59 |
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v 0.22998782 -0.94936944 -0.24777967
|
| 60 |
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v 0.25639376 -0.97575538 -0.24255247
|
| 61 |
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v 0.28396638 -0.97791843 -0.24106474
|
| 62 |
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v 0.36236753 -0.95124649 -0.24094412
|
| 63 |
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v 0.41467384 -0.92298358 -0.24235143
|
| 64 |
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v 0.41467384 -0.91265090 -0.24379894
|
| 65 |
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v 0.35155626 -0.91265090 -0.24697546
|
| 66 |
+
v 0.40432924 -0.91265090 -0.24432167
|
| 67 |
+
f 1 2 7
|
| 68 |
+
f 1 7 22
|
| 69 |
+
f 1 22 30
|
| 70 |
+
f 1 30 9
|
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f 1 9 3
|
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f 1 3 4
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f 1 4 5
|
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|
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|
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|
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|
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f 1 57 45
|
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f 1 45 44
|
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f 1 44 27
|
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f 1 27 8
|
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f 1 8 2
|
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f 2 8 29
|
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f 2 29 41
|
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f 2 41 23
|
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f 2 23 7
|
| 95 |
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f 3 9 31
|
| 96 |
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f 3 31 10
|
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f 3 10 11
|
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f 3 11 12
|
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f 3 12 13
|
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f 3 13 4
|
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f 4 13 12
|
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f 4 12 11
|
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f 4 11 14
|
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f 4 14 15
|
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f 4 15 16
|
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f 4 16 17
|
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f 4 17 18
|
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f 4 18 19
|
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f 4 19 5
|
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f 5 19 6
|
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f 6 19 20
|
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f 7 24 25
|
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f 7 25 26
|
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f 7 26 21
|
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f 8 27 28
|
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f 8 28 24
|
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f 8 24 29
|
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f 9 30 31
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_04.obj
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.65168708 -0.14221649 0.10088716
|
| 3 |
+
v 0.65168708 -0.14221649 0.30488389
|
| 4 |
+
v 0.65168708 -0.00079211 0.10088716
|
| 5 |
+
v 0.85004107 -0.14221649 0.10088716
|
| 6 |
+
v 0.65168708 -0.00079211 0.30488389
|
| 7 |
+
v 0.82195474 -0.14221649 0.30488389
|
| 8 |
+
v 0.95988242 -0.00079211 0.10088716
|
| 9 |
+
v 0.87124915 -0.11493111 0.10088716
|
| 10 |
+
v 0.78101688 -0.00079211 0.30488389
|
| 11 |
+
v 0.91457025 -0.05915597 0.10088716
|
| 12 |
+
f 1 2 5
|
| 13 |
+
f 1 5 3
|
| 14 |
+
f 1 3 7
|
| 15 |
+
f 1 7 10
|
| 16 |
+
f 1 10 8
|
| 17 |
+
f 1 8 4
|
| 18 |
+
f 1 4 6
|
| 19 |
+
f 1 6 2
|
| 20 |
+
f 2 6 9
|
| 21 |
+
f 2 9 5
|
| 22 |
+
f 3 5 9
|
| 23 |
+
f 3 9 7
|
| 24 |
+
f 4 8 6
|
| 25 |
+
f 6 8 10
|
| 26 |
+
f 6 10 7
|
| 27 |
+
f 6 7 9
|
| 28 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_05.obj
ADDED
|
@@ -0,0 +1,73 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.60866079 -0.91263313 0.41714182
|
| 3 |
+
v 0.60866079 -0.91263313 0.41446389
|
| 4 |
+
v 0.60737551 -0.91263313 0.42410440
|
| 5 |
+
v 0.56434514 -0.93873393 0.42311780
|
| 6 |
+
v 0.43048770 -1.01682511 0.38900954
|
| 7 |
+
v 0.33513539 -1.04990019 0.15591769
|
| 8 |
+
v 0.46805561 -0.91263313 0.15591769
|
| 9 |
+
v 0.60274312 -0.91263313 0.42712060
|
| 10 |
+
v 0.58341025 -0.91263313 0.43368854
|
| 11 |
+
v 0.54659207 -0.94261354 0.42497825
|
| 12 |
+
v 0.50988104 -0.96364221 0.42114460
|
| 13 |
+
v 0.37733568 -1.04271454 0.39481642
|
| 14 |
+
v 0.43048770 -1.01682511 0.39591576
|
| 15 |
+
v 0.33513539 -1.06683786 0.36352702
|
| 16 |
+
v 0.33513539 -1.06679257 0.35442209
|
| 17 |
+
v 0.33513539 -0.91263313 0.15591769
|
| 18 |
+
v 0.55695472 -0.91263313 0.43701480
|
| 19 |
+
v 0.33513539 -1.02850932 0.40724760
|
| 20 |
+
v 0.33513539 -1.04867747 0.39856549
|
| 21 |
+
v 0.33513539 -1.04894916 0.39831179
|
| 22 |
+
v 0.33513539 -1.06212793 0.38286443
|
| 23 |
+
v 0.33513539 -1.06324504 0.38117311
|
| 24 |
+
v 0.33513539 -0.91263313 0.44389283
|
| 25 |
+
v 0.33513539 -0.92298885 0.44107396
|
| 26 |
+
v 0.33513539 -0.94875757 0.43337847
|
| 27 |
+
f 1 2 7
|
| 28 |
+
f 1 7 16
|
| 29 |
+
f 1 16 23
|
| 30 |
+
f 1 23 17
|
| 31 |
+
f 1 17 9
|
| 32 |
+
f 1 9 8
|
| 33 |
+
f 1 8 3
|
| 34 |
+
f 1 3 4
|
| 35 |
+
f 1 4 2
|
| 36 |
+
f 2 4 5
|
| 37 |
+
f 2 5 6
|
| 38 |
+
f 2 6 7
|
| 39 |
+
f 3 8 4
|
| 40 |
+
f 4 8 9
|
| 41 |
+
f 4 9 10
|
| 42 |
+
f 4 10 11
|
| 43 |
+
f 4 11 12
|
| 44 |
+
f 4 12 13
|
| 45 |
+
f 4 13 5
|
| 46 |
+
f 5 13 14
|
| 47 |
+
f 5 14 15
|
| 48 |
+
f 5 15 6
|
| 49 |
+
f 6 16 7
|
| 50 |
+
f 6 15 14
|
| 51 |
+
f 6 14 22
|
| 52 |
+
f 6 22 21
|
| 53 |
+
f 6 21 20
|
| 54 |
+
f 6 20 19
|
| 55 |
+
f 6 19 18
|
| 56 |
+
f 6 18 25
|
| 57 |
+
f 6 25 24
|
| 58 |
+
f 6 24 23
|
| 59 |
+
f 6 23 16
|
| 60 |
+
f 9 17 11
|
| 61 |
+
f 9 11 10
|
| 62 |
+
f 11 17 18
|
| 63 |
+
f 11 18 19
|
| 64 |
+
f 11 19 12
|
| 65 |
+
f 12 19 20
|
| 66 |
+
f 12 20 21
|
| 67 |
+
f 12 21 22
|
| 68 |
+
f 12 22 14
|
| 69 |
+
f 12 14 13
|
| 70 |
+
f 17 23 24
|
| 71 |
+
f 17 24 25
|
| 72 |
+
f 17 25 18
|
| 73 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_06.obj
ADDED
|
@@ -0,0 +1,256 @@
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|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.61827363 -0.00079211 -0.14489723
|
| 3 |
+
v 0.61827363 -0.00079211 0.35456331
|
| 4 |
+
v 0.61827363 0.06083895 -0.13805262
|
| 5 |
+
v 0.62711788 -0.00079211 -0.14382164
|
| 6 |
+
v 0.61827363 0.41764818 0.35456331
|
| 7 |
+
v 0.75659788 -0.00079211 0.35456331
|
| 8 |
+
v 0.61827363 0.09304942 -0.13438588
|
| 9 |
+
v 0.62529006 0.07897320 -0.13511925
|
| 10 |
+
v 0.62582070 0.05331473 -0.13795484
|
| 11 |
+
v 0.64020741 0.06971585 -0.13409253
|
| 12 |
+
v 0.65217659 -0.00079211 -0.13991045
|
| 13 |
+
v 0.61827363 0.43104808 -0.04134814
|
| 14 |
+
v 1.05164244 0.38628314 0.35456331
|
| 15 |
+
v 1.03076995 -0.00079211 0.01981327
|
| 16 |
+
v 1.06101733 0.35694707 0.34111854
|
| 17 |
+
v 1.05683104 0.36590853 0.35456331
|
| 18 |
+
v 0.61827363 0.09613521 -0.13399474
|
| 19 |
+
v 0.63378052 0.08730057 -0.13287028
|
| 20 |
+
v 0.66968824 0.00056055 -0.13546147
|
| 21 |
+
v 0.66998305 -0.00079211 -0.13555922
|
| 22 |
+
v 0.61827363 0.19276663 -0.12035445
|
| 23 |
+
v 1.17982525 0.31712782 0.05853417
|
| 24 |
+
v 1.15346935 0.26437368 0.04279159
|
| 25 |
+
v 1.03141854 0.03488457 -0.02726783
|
| 26 |
+
v 1.03566382 0.01729985 -0.02873452
|
| 27 |
+
v 0.74999414 0.41050441 -0.02971233
|
| 28 |
+
v 0.62582070 0.42973768 -0.04134814
|
| 29 |
+
v 0.61827363 0.42200213 -0.06892215
|
| 30 |
+
v 1.05464950 0.38602953 0.35456331
|
| 31 |
+
v 1.06426022 0.38514181 0.34952764
|
| 32 |
+
v 1.06426022 0.38514181 0.33314948
|
| 33 |
+
v 1.16809190 0.35745436 0.15382084
|
| 34 |
+
v 1.07428371 0.36557036 0.06420542
|
| 35 |
+
v 1.03890671 -0.00079211 0.00812855
|
| 36 |
+
v 1.09032131 0.08814600 0.02910239
|
| 37 |
+
v 1.06679562 0.05880993 0.03144912
|
| 38 |
+
v 1.11673619 0.35377676 0.26665903
|
| 39 |
+
v 1.05865887 0.36958609 0.35456331
|
| 40 |
+
v 0.61827363 0.10978873 -0.13218583
|
| 41 |
+
v 0.61827363 0.11342402 -0.13169691
|
| 42 |
+
v 0.61827363 0.13997022 -0.12798125
|
| 43 |
+
v 0.61827363 0.16634731 -0.12426564
|
| 44 |
+
v 0.99515704 -0.00079211 -0.04266817
|
| 45 |
+
v 0.61827363 0.24277321 -0.11209203
|
| 46 |
+
v 1.14132323 0.33128860 0.05076068
|
| 47 |
+
v 1.22056786 0.33217629 0.07613460
|
| 48 |
+
v 1.16921215 0.28280380 0.05017399
|
| 49 |
+
v 0.61827363 0.25710306 -0.10969641
|
| 50 |
+
v 0.61827363 0.26213328 -0.10876752
|
| 51 |
+
v 0.61827363 0.36933248 -0.08896704
|
| 52 |
+
v 0.61827363 0.39630135 -0.08398026
|
| 53 |
+
v 0.61827363 0.40881356 -0.08119354
|
| 54 |
+
v 1.17092202 0.26437368 0.04860950
|
| 55 |
+
v 1.03566382 0.00800024 -0.02873452
|
| 56 |
+
v 1.02369455 -0.00079211 -0.03289017
|
| 57 |
+
v 0.90376638 0.38340874 -0.00204057
|
| 58 |
+
v 1.10069858 0.36108965 0.06420542
|
| 59 |
+
v 1.12039184 0.35762343 0.06420542
|
| 60 |
+
v 1.11420079 0.35682027 0.05090733
|
| 61 |
+
v 0.61827363 0.41430880 -0.07738010
|
| 62 |
+
v 0.69191682 0.40953218 -0.05454846
|
| 63 |
+
v 1.05865887 0.37288324 0.35456331
|
| 64 |
+
v 1.06426022 0.37453181 0.34952764
|
| 65 |
+
v 1.11673619 0.36079374 0.26665903
|
| 66 |
+
v 1.14438927 0.36011738 0.21718232
|
| 67 |
+
v 1.16809190 0.35745436 0.16408776
|
| 68 |
+
v 1.20789102 0.33834784 0.09060604
|
| 69 |
+
v 1.17982525 0.34997237 0.09060604
|
| 70 |
+
v 1.03931939 -0.00079211 -0.01577866
|
| 71 |
+
v 1.06260933 0.03720948 0.00441292
|
| 72 |
+
v 1.16691266 0.22430078 0.05178735
|
| 73 |
+
v 1.19391715 0.27612500 0.07872577
|
| 74 |
+
v 1.19427086 0.32892141 0.13201590
|
| 75 |
+
v 1.20624013 0.33589615 0.07310342
|
| 76 |
+
v 1.22056786 0.33217629 0.08180583
|
| 77 |
+
v 1.22056786 0.32748421 0.07613460
|
| 78 |
+
v 1.06260933 0.03720948 -0.00414284
|
| 79 |
+
v 1.03920152 -0.00079211 -0.01690315
|
| 80 |
+
v 1.02440212 -0.00079211 -0.03249905
|
| 81 |
+
v 1.11691312 0.13958978 0.02142666
|
| 82 |
+
v 1.19427086 0.33361349 0.13201590
|
| 83 |
+
v 1.03931939 -0.00079211 -0.01607200
|
| 84 |
+
v 1.16691266 0.22430078 0.05066289
|
| 85 |
+
v 1.19391715 0.27612500 0.07501012
|
| 86 |
+
v 1.22056786 0.32748421 0.08180583
|
| 87 |
+
v 1.21172361 0.31805777 0.09060604
|
| 88 |
+
f 1 2 5
|
| 89 |
+
f 1 5 12
|
| 90 |
+
f 1 12 28
|
| 91 |
+
f 1 28 60
|
| 92 |
+
f 1 60 52
|
| 93 |
+
f 1 52 51
|
| 94 |
+
f 1 51 50
|
| 95 |
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f 1 50 49
|
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+
f 1 49 48
|
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+
f 1 48 44
|
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|
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|
| 100 |
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f 1 42 41
|
| 101 |
+
f 1 41 40
|
| 102 |
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f 1 40 39
|
| 103 |
+
f 1 39 17
|
| 104 |
+
f 1 17 7
|
| 105 |
+
f 1 7 3
|
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f 1 3 4
|
| 107 |
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f 1 4 11
|
| 108 |
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f 1 11 20
|
| 109 |
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f 1 20 43
|
| 110 |
+
f 1 43 55
|
| 111 |
+
f 1 55 79
|
| 112 |
+
f 1 79 78
|
| 113 |
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f 1 78 82
|
| 114 |
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f 1 82 69
|
| 115 |
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f 1 69 34
|
| 116 |
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f 1 34 14
|
| 117 |
+
f 1 14 6
|
| 118 |
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f 1 6 2
|
| 119 |
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f 2 6 16
|
| 120 |
+
f 2 16 38
|
| 121 |
+
f 2 38 62
|
| 122 |
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f 2 62 29
|
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f 2 29 13
|
| 124 |
+
f 2 13 5
|
| 125 |
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f 3 7 8
|
| 126 |
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f 3 8 9
|
| 127 |
+
f 3 9 4
|
| 128 |
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f 4 9 10
|
| 129 |
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f 4 10 11
|
| 130 |
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f 5 13 12
|
| 131 |
+
f 6 14 15
|
| 132 |
+
f 6 15 16
|
| 133 |
+
f 7 17 18
|
| 134 |
+
f 7 18 8
|
| 135 |
+
f 8 18 10
|
| 136 |
+
f 8 10 9
|
| 137 |
+
f 10 19 20
|
| 138 |
+
f 10 20 11
|
| 139 |
+
f 10 18 21
|
| 140 |
+
f 10 21 22
|
| 141 |
+
f 10 22 23
|
| 142 |
+
f 10 23 24
|
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f 10 24 25
|
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f 10 25 19
|
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f 12 26 27
|
| 146 |
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f 12 27 28
|
| 147 |
+
f 12 13 29
|
| 148 |
+
f 12 29 30
|
| 149 |
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f 12 30 31
|
| 150 |
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f 12 31 32
|
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f 12 32 33
|
| 152 |
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f 12 33 26
|
| 153 |
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f 14 34 35
|
| 154 |
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f 14 35 36
|
| 155 |
+
f 14 36 37
|
| 156 |
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f 14 37 15
|
| 157 |
+
f 15 37 16
|
| 158 |
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f 16 37 38
|
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f 17 39 18
|
| 160 |
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f 18 39 40
|
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f 18 40 41
|
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f 18 41 42
|
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f 18 42 21
|
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f 19 25 20
|
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f 20 25 43
|
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f 21 44 22
|
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f 22 45 46
|
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f 22 46 47
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f 22 47 23
|
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f 22 44 48
|
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|
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|
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f 22 52 45
|
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f 23 47 25
|
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f 23 25 24
|
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+
f 25 47 53
|
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+
f 25 53 46
|
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+
f 25 46 76
|
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f 25 76 54
|
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+
f 25 54 55
|
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+
f 25 55 43
|
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+
f 26 56 28
|
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+
f 26 28 27
|
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+
f 26 33 57
|
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+
f 26 57 58
|
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+
f 26 58 59
|
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f 26 59 56
|
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f 28 56 61
|
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+
f 28 61 60
|
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+
f 29 62 30
|
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+
f 30 62 38
|
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+
f 30 38 63
|
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f 30 63 37
|
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+
f 30 37 64
|
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+
f 30 64 65
|
| 198 |
+
f 30 65 66
|
| 199 |
+
f 30 66 32
|
| 200 |
+
f 30 32 31
|
| 201 |
+
f 32 66 67
|
| 202 |
+
f 32 67 68
|
| 203 |
+
f 32 68 33
|
| 204 |
+
f 33 68 57
|
| 205 |
+
f 34 69 70
|
| 206 |
+
f 34 70 35
|
| 207 |
+
f 35 71 72
|
| 208 |
+
f 35 72 37
|
| 209 |
+
f 35 37 36
|
| 210 |
+
f 35 70 71
|
| 211 |
+
f 37 63 38
|
| 212 |
+
f 37 72 73
|
| 213 |
+
f 37 73 81
|
| 214 |
+
f 37 81 64
|
| 215 |
+
f 45 59 46
|
| 216 |
+
f 45 52 59
|
| 217 |
+
f 46 74 68
|
| 218 |
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f 46 68 67
|
| 219 |
+
f 46 67 75
|
| 220 |
+
f 46 75 85
|
| 221 |
+
f 46 85 76
|
| 222 |
+
f 46 53 47
|
| 223 |
+
f 46 59 74
|
| 224 |
+
f 52 60 56
|
| 225 |
+
f 52 56 59
|
| 226 |
+
f 54 77 78
|
| 227 |
+
f 54 78 79
|
| 228 |
+
f 54 79 55
|
| 229 |
+
f 54 76 80
|
| 230 |
+
f 54 80 77
|
| 231 |
+
f 56 60 61
|
| 232 |
+
f 57 68 58
|
| 233 |
+
f 58 68 59
|
| 234 |
+
f 59 68 74
|
| 235 |
+
f 64 81 65
|
| 236 |
+
f 65 81 75
|
| 237 |
+
f 65 75 66
|
| 238 |
+
f 66 75 67
|
| 239 |
+
f 69 82 77
|
| 240 |
+
f 69 77 70
|
| 241 |
+
f 70 77 83
|
| 242 |
+
f 70 83 71
|
| 243 |
+
f 71 83 84
|
| 244 |
+
f 71 84 72
|
| 245 |
+
f 72 84 76
|
| 246 |
+
f 72 76 85
|
| 247 |
+
f 72 85 86
|
| 248 |
+
f 72 86 73
|
| 249 |
+
f 73 86 85
|
| 250 |
+
f 73 85 75
|
| 251 |
+
f 73 75 81
|
| 252 |
+
f 76 84 83
|
| 253 |
+
f 76 83 80
|
| 254 |
+
f 77 82 78
|
| 255 |
+
f 77 80 83
|
| 256 |
+
|
data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_07.obj
ADDED
|
@@ -0,0 +1,196 @@
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|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
v 0.33513537 -0.91263305 0.44387661
|
| 3 |
+
v 0.27294343 -0.91263305 0.56071987
|
| 4 |
+
v 0.33513537 -0.91594844 0.44298909
|
| 5 |
+
v 0.33513537 -0.91263305 0.15596206
|
| 6 |
+
v 0.24563902 -0.91263305 0.60753705
|
| 7 |
+
v 0.33513537 -1.02851923 0.40726603
|
| 8 |
+
v 0.33513537 -0.94876103 0.43340377
|
| 9 |
+
v 0.33513537 -0.92299593 0.44103652
|
| 10 |
+
v 0.33513537 -1.04988910 0.15596206
|
| 11 |
+
v 0.07073550 -0.91263305 0.15596206
|
| 12 |
+
v 0.24519904 -0.91263305 0.60775892
|
| 13 |
+
v 0.31668224 -1.06646591 0.39204489
|
| 14 |
+
v 0.33513537 -1.04894184 0.39830197
|
| 15 |
+
v 0.33513537 -1.04867668 0.39856824
|
| 16 |
+
v 0.32123730 -1.06676906 0.15596206
|
| 17 |
+
v 0.33513537 -1.06678801 0.35445802
|
| 18 |
+
v 0.07073550 -0.91263305 0.55264335
|
| 19 |
+
v 0.07073550 -1.00013970 0.15596206
|
| 20 |
+
v 0.23474314 -0.91263305 0.60882396
|
| 21 |
+
v 0.24354266 -0.93635211 0.57895859
|
| 22 |
+
v 0.28272643 -1.09880495 0.37069981
|
| 23 |
+
v 0.30032549 -1.04509604 0.42519412
|
| 24 |
+
v 0.33513537 -1.06324528 0.38121704
|
| 25 |
+
v 0.33513537 -1.06212754 0.38285897
|
| 26 |
+
v 0.29613277 -1.09461810 0.36781534
|
| 27 |
+
v 0.31531057 -1.07391130 0.15596206
|
| 28 |
+
v 0.33513537 -1.06684486 0.36355520
|
| 29 |
+
v 0.29683155 -1.09520544 0.15596206
|
| 30 |
+
v 0.30335355 -1.08789264 0.15596206
|
| 31 |
+
v 0.07073550 -0.91267095 0.56666631
|
| 32 |
+
v 0.07166722 -0.91263305 0.56697694
|
| 33 |
+
v 0.27912898 -1.09149222 0.15596206
|
| 34 |
+
v 0.07073550 -1.00097332 0.15849152
|
| 35 |
+
v 0.22995516 -0.91263305 0.60922335
|
| 36 |
+
v 0.22995516 -0.91278458 0.60909022
|
| 37 |
+
v 0.25635374 -1.09924067 0.37092169
|
| 38 |
+
v 0.25635374 -1.10609872 0.35445802
|
| 39 |
+
v 0.28417577 -1.10141938 0.35672122
|
| 40 |
+
v 0.32801811 -1.07163792 0.37451618
|
| 41 |
+
v 0.29230238 -1.09520544 0.15596206
|
| 42 |
+
v 0.27949131 -1.10280236 0.32805402
|
| 43 |
+
v 0.27956896 -1.10206349 0.30169440
|
| 44 |
+
v 0.25635374 -1.10617453 0.32805402
|
| 45 |
+
v 0.07073550 -0.91602417 0.56165177
|
| 46 |
+
v 0.09811756 -0.91263305 0.57438782
|
| 47 |
+
v 0.07073550 -1.00442130 0.16900874
|
| 48 |
+
v 0.28603920 -1.09404980 0.15596206
|
| 49 |
+
v 0.26802605 -1.09554641 0.20277924
|
| 50 |
+
v 0.07780101 -1.01726595 0.20340051
|
| 51 |
+
v 0.07073550 -1.01287072 0.19594525
|
| 52 |
+
v 0.22785880 -0.91263305 0.60891272
|
| 53 |
+
v 0.07073550 -0.98197152 0.46255911
|
| 54 |
+
v 0.07073550 -0.99070512 0.44942367
|
| 55 |
+
v 0.07073550 -0.99938196 0.43362565
|
| 56 |
+
v 0.24258506 -1.09520544 0.36812597
|
| 57 |
+
v 0.20738696 -0.91263305 0.60487446
|
| 58 |
+
v 0.20143434 -0.91263305 0.60323253
|
| 59 |
+
v 0.12226449 -0.91263305 0.58113305
|
| 60 |
+
v 0.07073550 -0.96874792 0.48243976
|
| 61 |
+
v 0.23660657 -1.09749777 0.35445802
|
| 62 |
+
v 0.23458785 -1.09783874 0.32805402
|
| 63 |
+
v 0.26577441 -1.09711883 0.22252677
|
| 64 |
+
v 0.07694694 -1.01914151 0.22252677
|
| 65 |
+
v 0.18127307 -1.07247146 0.30169440
|
| 66 |
+
v 0.07073550 -1.01508724 0.22252677
|
| 67 |
+
v 0.22138856 -1.09149222 0.32805402
|
| 68 |
+
f 1 2 3
|
| 69 |
+
f 1 3 8
|
| 70 |
+
f 1 8 7
|
| 71 |
+
f 1 7 6
|
| 72 |
+
f 1 6 14
|
| 73 |
+
f 1 14 13
|
| 74 |
+
f 1 13 24
|
| 75 |
+
f 1 24 23
|
| 76 |
+
f 1 23 27
|
| 77 |
+
f 1 27 16
|
| 78 |
+
f 1 16 9
|
| 79 |
+
f 1 9 4
|
| 80 |
+
f 1 4 10
|
| 81 |
+
f 1 10 17
|
| 82 |
+
f 1 17 31
|
| 83 |
+
f 1 31 45
|
| 84 |
+
f 1 45 58
|
| 85 |
+
f 1 58 57
|
| 86 |
+
f 1 57 56
|
| 87 |
+
f 1 56 51
|
| 88 |
+
f 1 51 34
|
| 89 |
+
f 1 34 19
|
| 90 |
+
f 1 19 11
|
| 91 |
+
f 1 11 5
|
| 92 |
+
f 1 5 2
|
| 93 |
+
f 2 5 6
|
| 94 |
+
f 2 6 7
|
| 95 |
+
f 2 7 8
|
| 96 |
+
f 2 8 3
|
| 97 |
+
f 4 9 15
|
| 98 |
+
f 4 15 26
|
| 99 |
+
f 4 26 29
|
| 100 |
+
f 4 29 28
|
| 101 |
+
f 4 28 40
|
| 102 |
+
f 4 40 47
|
| 103 |
+
f 4 47 32
|
| 104 |
+
f 4 32 18
|
| 105 |
+
f 4 18 10
|
| 106 |
+
f 5 11 12
|
| 107 |
+
f 5 12 13
|
| 108 |
+
f 5 13 14
|
| 109 |
+
f 5 14 6
|
| 110 |
+
f 9 16 15
|
| 111 |
+
f 10 18 33
|
| 112 |
+
f 10 33 46
|
| 113 |
+
f 10 46 50
|
| 114 |
+
f 10 50 65
|
| 115 |
+
f 10 65 54
|
| 116 |
+
f 10 54 53
|
| 117 |
+
f 10 53 52
|
| 118 |
+
f 10 52 59
|
| 119 |
+
f 10 59 44
|
| 120 |
+
f 10 44 30
|
| 121 |
+
f 10 30 17
|
| 122 |
+
f 11 19 20
|
| 123 |
+
f 11 20 21
|
| 124 |
+
f 11 21 22
|
| 125 |
+
f 11 22 12
|
| 126 |
+
f 12 23 24
|
| 127 |
+
f 12 24 13
|
| 128 |
+
f 12 22 21
|
| 129 |
+
f 12 21 25
|
| 130 |
+
f 12 25 23
|
| 131 |
+
f 15 16 26
|
| 132 |
+
f 16 27 28
|
| 133 |
+
f 16 28 29
|
| 134 |
+
f 16 29 26
|
| 135 |
+
f 17 30 31
|
| 136 |
+
f 18 32 33
|
| 137 |
+
f 19 34 35
|
| 138 |
+
f 19 35 20
|
| 139 |
+
f 20 35 36
|
| 140 |
+
f 20 36 21
|
| 141 |
+
f 21 36 37
|
| 142 |
+
f 21 37 38
|
| 143 |
+
f 21 38 25
|
| 144 |
+
f 23 25 39
|
| 145 |
+
f 23 39 27
|
| 146 |
+
f 25 38 28
|
| 147 |
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f 25 28 27
|
| 148 |
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f 25 27 39
|
| 149 |
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f 28 38 41
|
| 150 |
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f 28 41 42
|
| 151 |
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f 28 42 43
|
| 152 |
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f 28 43 40
|
| 153 |
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f 30 44 36
|
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f 30 36 45
|
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f 30 45 31
|
| 156 |
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f 32 46 33
|
| 157 |
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f 32 47 48
|
| 158 |
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f 32 48 49
|
| 159 |
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f 32 49 50
|
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f 32 50 46
|
| 161 |
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f 34 51 35
|
| 162 |
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f 35 51 36
|
| 163 |
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f 36 52 53
|
| 164 |
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f 36 53 54
|
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f 36 54 55
|
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f 36 55 37
|
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f 36 51 56
|
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f 36 56 57
|
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f 36 57 58
|
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f 36 58 45
|
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f 36 44 59
|
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f 36 59 52
|
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f 37 60 61
|
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f 37 61 43
|
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f 37 43 41
|
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f 37 41 38
|
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f 37 55 54
|
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f 37 54 60
|
| 179 |
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f 40 48 47
|
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f 40 43 48
|
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f 41 43 42
|
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f 43 61 62
|
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f 43 62 48
|
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f 48 62 61
|
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f 48 61 49
|
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f 49 63 50
|
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f 49 61 64
|
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f 49 64 63
|
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f 50 63 65
|
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f 54 65 63
|
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f 54 63 64
|
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f 54 64 60
|
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f 60 64 66
|
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f 60 66 61
|
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f 61 66 64
|
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|