Add files using upload-large-folder tool

.gitattributes

@@ -1,60 +1,12 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
 *.npy filter=lfs diff=lfs merge=lfs -text
 *.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
 *.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
+*.SLDPRT filter=lfs diff=lfs merge=lfs -text
+*.backup filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,24 @@
+---
+pretty_name: BYORobotSim Embodiments
+tags:
+  - robotics
+  - simulation
+  - urdf
+---
+
+# BYORobotSim Embodiments
+
+Robot geometry and profiles for BYORobotSim. Keep the directory structure
+unchanged when downloading an individual arm or gripper: manifests and URDFs
+refer to nearby meshes by relative path.
+
+`arms/` contains the ArmBot profile and imported arm packages. Combined arm and
+gripper URDFs remain together so their relative mesh paths continue to work.
+
+`grippers/` contains standalone gripper profiles. `gloria_m` refers to the shared
+ArmBot adapter mesh in `arms/ArmBot/meshes/`.
+
+Large mesh, image, CAD, and array files use Git LFS. Manifests, URDFs,
+configuration, and documentation remain ordinary Git files. Individual source
+packages may have their own license terms; consult their included notices and
+upstream sources before redistributing them.

grippers/barrett_hand/config.json

@@ -0,0 +1,72 @@
+{
+    "open": {
+        "bh_j32_joint": 0,
+        "bh_j11_joint": 0,
+        "bh_j12_joint": 0,
+        "bh_j22_joint": 0
+    },
+    "close": {
+        "bh_j32_joint": 2.44,
+        "bh_j11_joint": 0,
+        "bh_j12_joint": 2.44,
+        "bh_j22_joint": 2.44
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.1
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.16,
+            0.04,
+            0.03
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.09
+        ],
+        "extents2": [
+            0.08,
+            0.04,
+            0.06
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.11
+        ]
+    },
+    "links": [
+        "world",
+        "bh_base_link",
+        "bh_finger_31_link",
+        "bh_finger_32_link",
+        "bh_finger_33_link",
+        "bh_finger_11_link",
+        "bh_finger_12_link",
+        "bh_finger_13_link",
+        "bh_finger_21_link",
+        "bh_finger_22_link",
+        "bh_finger_23_link"
+    ],
+    "standoff": [
+        0.0,
+        0.06
+    ],
+    "bbox": [
+        [
+            -0.1676395926672152,
+            -0.04450000077456072,
+            1.3411000088225933e-09
+        ],
+        [
+            0.16763951773415578,
+            0.04450000077455962,
+            0.10238689640876088
+        ]
+    ],
+    "symmetric": false,
+    "type": "revolute_3f"
+}

grippers/barrett_hand/config_spherical_dof.json

@@ -0,0 +1,25 @@
+{
+  "open": {
+    "bh_j32_joint": 0,
+    "bh_j12_joint": 0,
+    "bh_j22_joint": 0
+  },
+  "close": {
+    "bh_j32_joint": 2.44,
+    "bh_j12_joint": 2.44,
+    "bh_j22_joint": 2.44
+  },
+  "fingertip": [0.0, 0.0, 0.1],
+  "sweep_volume": {
+    "extents": [
+      0.16,
+      0.04,
+      0.03
+    ],
+    "offset": [
+      0.0,
+      0.0,
+      0.09
+    ]
+  }
+}

grippers/barrett_hand/gripper.urdf

@@ -0,0 +1,410 @@
+<?xml version="1.0" ?>
+<!-- source: https://github.com/RobotnikAutomation/barrett_hand_common/tree/kinetic-devel/barrett_hand_description -->
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from bh_alone.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="bhand">
+    <!-- HAND WORLD_LINK (RED) -->
+    <link name="world"/>
+    <joint name="world_joint" type="fixed">
+        <parent link="world"/>
+        <child link="bh_base_link"/>
+        <origin rpy="0 0 -1.5708" xyz="0.0 0.0 0.0"/>
+    </joint>
+
+    <link name="bh_base_link">
+        <inertial>
+            <mass value="3.0"/>
+            <origin xyz="0 0 0"/>
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282.dae.stl"/>
+            </geometry>
+            <material name="Grey">
+                <color rgba="0.75 0.75 0.75 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx2.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx3.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx4.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- finger 3 -->
+    <!-- finger 31 link -->
+    <link name="bh_finger_31_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed.dae.stl"/>
+            </geometry>
+            <material name="Black"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_31_link -->
+    <!-- finger3 is the center finger and is fixed -->
+    <joint name="bh_j31_joint" type="fixed">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_31_link"/>
+        <origin rpy="0 0 -1.570796327" xyz="0 0 0.0252"/>
+    </joint>
+    <!-- finger 32 link -->
+    <link name="bh_finger_32_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_31_link and BH_finger_32_link -->
+    <joint name="bh_j32_joint" type="revolute">
+        <parent link="bh_finger_31_link"/>
+        <child link="bh_finger_32_link"/>
+        <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 33 link -->
+    <link name="bh_finger_33_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_32_link and BH_finger_33_link -->
+    <joint name="bh_j33_joint" type="revolute">
+        <parent link="bh_finger_32_link"/>
+        <child link="bh_finger_33_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j32_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 1 -->
+    <!-- finger 11 link -->
+    <link name="bh_finger_11_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle.dae.stl"/>
+            </geometry>
+            <material name="Green"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_11_link -->
+    <joint name="bh_j11_joint" type="revolute">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_11_link"/>
+        <origin rpy="0 0 1.5708" xyz="-0.025 0 0.0252"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 12 link -->
+    <link name="bh_finger_12_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_11_link and BH_finger_12_link -->
+    <joint name="bh_j12_joint" type="revolute">
+        <parent link="bh_finger_11_link"/>
+        <child link="bh_finger_12_link"/>
+        <origin rpy="1.5708 0 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 13 link -->
+    <link name="bh_finger_13_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_12_link and BH_finger_13_link -->
+    <joint name="bh_j13_joint" type="revolute">
+        <parent link="bh_finger_12_link"/>
+        <child link="bh_finger_13_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j12_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 2 -->
+    <!-- finger 21 link -->
+    <link name="bh_finger_21_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle.dae.stl"/>
+            </geometry>
+            <material name="Green"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_21_link -->
+    <joint name="bh_j21_joint" type="revolute">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_21_link"/>
+        <origin rpy="0 0 1.5708" xyz="0.025 0 0.0252"/>
+        <axis xyz="0 0 1"/>
+        <mimic joint="bh_j11_joint" multiplier="1"/>
+        <limit effort="30.0" lower="0" upper="3.1416" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 12 link -->
+    <link name="bh_finger_22_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_21_link and BH_finger_22_link -->
+    <joint name="bh_j22_joint" type="revolute">
+        <parent link="bh_finger_21_link"/>
+        <child link="bh_finger_22_link"/>
+        <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 23 link -->
+    <link name="bh_finger_23_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_22_link and BH_finger_23_link -->
+    <joint name="bh_j23_joint" type="revolute">
+        <parent link="bh_finger_22_link"/>
+        <child link="bh_finger_23_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j22_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+</robot>
+

grippers/barrett_hand/gripper_spherical_dof.urdf

@@ -0,0 +1,443 @@
+<?xml version="1.0" ?>
+<!-- source: https://github.com/RobotnikAutomation/barrett_hand_common/tree/kinetic-devel/barrett_hand_description -->
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from bh_alone.urdf.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="bhand">
+    <!-- HAND WORLD_LINK (RED) -->
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+
+    <link name="world"/>
+    <joint name="world_joint" type="fixed">
+        <parent link="world"/>
+        <child link="bh_base_link"/>
+        <origin rpy="0 0 -1.5708" xyz="0.0 0.0 0.0"/>
+    </joint>
+
+    <link name="bh_base_link">
+        <inertial>
+            <mass value="3.0"/>
+            <origin xyz="0 0 0"/>
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282.dae.stl"/>
+            </geometry>
+            <material name="Grey">
+                <color rgba="0.75 0.75 0.75 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx2.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx3.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0 " xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/palm_282_cvx4.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- finger 3 -->
+    <!-- finger 31 link -->
+    <link name="bh_finger_31_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed.dae.stl"/>
+            </geometry>
+            <material name="Black"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="-0.04 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_fixed_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_31_link -->
+    <!-- finger3 is the center finger and is fixed -->
+    <joint name="bh_j31_joint" type="fixed">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_31_link"/>
+        <origin rpy="0 0 -1.570796327" xyz="0 0 0.0252"/>
+    </joint>
+    <!-- finger 32 link -->
+    <link name="bh_finger_32_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_31_link and BH_finger_32_link -->
+    <joint name="bh_j32_joint" type="revolute">
+        <parent link="bh_finger_31_link"/>
+        <child link="bh_finger_32_link"/>
+        <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 33 link -->
+    <link name="bh_finger_33_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_32_link and BH_finger_33_link -->
+    <joint name="bh_j33_joint" type="revolute">
+        <parent link="bh_finger_32_link"/>
+        <child link="bh_finger_33_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j32_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 1 -->
+    <!-- finger 11 link -->
+    <link name="bh_finger_11_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle.dae.stl"/>
+            </geometry>
+            <material name="Green"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_11_link -->
+    <joint name="bh_j11_joint" type="fixed">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_11_link"/>
+        <origin rpy="0 0 1.5708" xyz="-0.025 0 0.0252"/>
+        <axis xyz="0 0 -1"/>
+    </joint>
+    <!-- finger 12 link -->
+    <link name="bh_finger_12_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_11_link and BH_finger_12_link -->
+    <joint name="bh_j12_joint" type="revolute">
+        <parent link="bh_finger_11_link"/>
+        <child link="bh_finger_12_link"/>
+        <origin rpy="1.5708 0 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 13 link -->
+    <link name="bh_finger_13_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_12_link and BH_finger_13_link -->
+    <joint name="bh_j13_joint" type="revolute">
+        <parent link="bh_finger_12_link"/>
+        <child link="bh_finger_13_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j12_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 2 -->
+    <!-- finger 21 link -->
+    <link name="bh_finger_21_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="-0.046 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle.dae.stl"/>
+            </geometry>
+            <material name="Green"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/knuckle_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_palm_link and BH_finger_21_link -->
+    <joint name="bh_j21_joint" type="fixed">
+        <parent link="bh_base_link"/>
+        <child link="bh_finger_21_link"/>
+        <origin rpy="0 0 1.5708" xyz="0.025 0 0.0252"/>
+        <axis xyz="0 0 1"/>
+    </joint>
+    <!-- finger 12 link -->
+    <link name="bh_finger_22_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_cvx0.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_21_link and BH_finger_22_link -->
+    <joint name="bh_j22_joint" type="revolute">
+        <parent link="bh_finger_21_link"/>
+        <child link="bh_finger_22_link"/>
+        <origin rpy="1.5708 -8.8281E-17 0" xyz="-0.05 0 0.0339"/>
+        <axis xyz="0 0 -1"/>
+        <limit effort="30.0" lower="0.0" upper="2.44" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+    <!-- finger 23 link -->
+    <link name="bh_finger_23_link">
+        <inertial>
+            <mass value="0.1"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip.dae.stl"/>
+            </geometry>
+            <material name="Blue"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx0.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx1.obj"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="./meshes/finger_tip_cvx2.obj"/>
+            </geometry>
+        </collision>
+    </link>
+    <!-- joint between BH_finger_22_link and BH_finger_23_link -->
+    <joint name="bh_j23_joint" type="revolute">
+        <parent link="bh_finger_22_link"/>
+        <child link="bh_finger_23_link"/>
+        <origin rpy="0 0 0" xyz="-0.069936 0.003 0"/>
+        <axis xyz="0 0 -1"/>
+        <mimic joint="bh_j22_joint" multiplier="0.344262295082"/>
+        <limit effort="30.0" lower="0.0" upper="0.84" velocity="2.0"/>
+        <dynamics damping="100.0" friction="1.0"/>
+    </joint>
+</robot>
+

grippers/barrett_hand/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [-0.0057752858847379684, 0.009211063385009766, -1.870095729827881e-05, 0.004939958453178406, 0.00345730222761631, 0.005839675664901733, 0.005982190370559692, 0.008037682622671127, -0.004033301025629044, -0.002719670534133911, 0.00857313722372055, 0.003216562792658806, 0.006825603544712067, 0.0020882785320281982, -0.0007466375827789307, 0.004799976944923401, -0.0003801174461841583, 0.004414089024066925, 0.006034031510353088, -2.1923333406448364e-05, 0.010047219693660736, -0.0017500892281532288, 0.007605353370308876, 0.0051593296229839325, 0.0013538673520088196, 0.002255684696137905, -0.000601339852437377, 0.006367415189743042, 0.0018059797585010529, 0.0046689435839653015, -0.008500553667545319, 0.00711444765329361, -0.0023999474942684174, 0.007588870823383331, 0.0018349885940551758, 0.004613704979419708, -0.002069150097668171, 5.439296364784241e-05, -0.0008357018232345581, 0.0017900988459587097, -0.0039949314668774605, 0.003158506006002426, 0.009314440190792084, -0.020026247948408127, 0.001458771526813507, -0.010041223838925362, -0.0005874522030353546, -0.0038703903555870056, -0.0020291395485401154, -0.0063540078699588776, 0.011244334280490875, 0.0009969696402549744, -0.017488911747932434, 0.00994834303855896, -0.0013743340969085693, 0.0065031033009290695, -0.003609791398048401, -0.0006784424185752869, 0.0032897405326366425, 0.0014495886862277985, 0.0011434964835643768, 1.1276453733444214e-05, -0.004185008816421032, -0.0037068407982587814], "close": [-0.0011705979704856873, -0.0012430548667907715, -0.0032985880970954895, 0.0008036494255065918, 0.0021129176020622253, 0.0018694400787353516, -0.003577515482902527, 0.00025809556245803833, -0.002362482249736786, -0.00016659311950206757, -0.005038104951381683, -0.0011206548660993576, -0.0021226629614830017, 9.351968765258789e-05, -0.0019138827919960022, 0.005087703466415405, 0.0008851848542690277, 0.0014341771602630615, 0.0014823712408542633, 0.004706012085080147, 0.001985110342502594, -0.006130985915660858, 0.0052767302840948105, -0.0008555874228477478, -0.0026646479964256287, -0.004393705166876316, -0.001243652543053031, 0.0008480027318000793, 0.003854963928461075, 0.003107801079750061, -0.003876529633998871, -0.004079669713973999, -0.0034254416823387146, 0.00562766008079052, -0.0025108568370342255, 0.0039039961993694305, 0.000316510908305645, -0.007072906941175461, 0.0069270059466362, 0.00034707412123680115, -0.0011476564686745405, 0.00041235238313674927, -0.0010330118238925934, 0.0016998648643493652, -0.008485294878482819, 0.004589531570672989, -0.004708327353000641, 0.0016418620944023132, 0.001934681087732315, -0.0002906806766986847, -0.002063661813735962, -0.001956656575202942, 0.0073171332478523254, 0.003290325403213501, 0.005506008863449097, -0.0013434020802378654, -0.00044793635606765747, 0.002788076177239418, 0.00038822367787361145, 0.005901612341403961, 0.0035681091248989105, 0.0019192099571228027, -0.0022128066048026085, 0.0011291205883026123], "half": [-0.005141537636518478, 0.0023575425148010254, 0.004122372716665268, 0.006902731955051422, 0.0025408174842596054, 0.0005810093134641647, 0.0005523264408111572, 0.003665175288915634, 0.002951778471469879, -0.0001705475151538849, -0.0016122981905937195, 0.0027237851172685623, -0.002350732684135437, 0.0027863383293151855, -0.001332804560661316, 0.004224047064781189, 0.0015768371522426605, 0.0023706555366516113, -0.00296679325401783, 0.002570338547229767, 0.010211735963821411, -0.0040666572749614716, -0.01046692579984665, -0.0010178964585065842, -0.0018528401851654053, 0.005581661127507687, -0.00016868463717401028, 0.00828734040260315, -0.0040472932159900665, -0.008093535900115967, -0.0014213696122169495, 0.0008931457996368408, 0.001875508576631546, 0.000573430210351944, -0.005118995904922485, -0.0016579031944274902, -0.0027100378647446632, 0.0026941634714603424, 0.0011454373598098755, 0.0014025494456291199, 0.0017647140193730593, -0.005720749497413635, -4.5921653509140015e-05, -0.008087102323770523, -0.004270307719707489, -0.0014213919639587402, 0.0007355287671089172, -0.005197994410991669, 0.0012944266200065613, 0.00012184679508209229, 0.0063891783356666565, -0.007441721856594086, -0.010048188269138336, -6.936490535736084e-06, 0.0015565678477287292, -0.000585273839533329, -0.0008400082588195801, 0.000248761847615242, -0.0023609455674886703, 0.0006747618317604065, 0.0003556683659553528, 0.0033637098968029022, 0.0044077178463339806, -0.005518805235624313]}

grippers/ezgripper/README.md

@@ -0,0 +1,4 @@
+From:
+
+https://github.com/SAKErobotics/EZGripper/tree/master/ezgripper_driver
+

grippers/ezgripper/config.json

@@ -0,0 +1,62 @@
+{
+    "open": {
+        "left_ezgripper_knuckle_palm_L1_1": 0.9
+    },
+    "close": {
+        "left_ezgripper_knuckle_palm_L1_1": 1.5
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.145
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.102,
+            0.032,
+            0.04
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.145
+        ],
+        "extents2": [
+            0.05,
+            0.032,
+            0.035
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.12
+        ]
+    },
+    "links": [
+        "world",
+        "left_ezgripper_palm_link",
+        "left_ezgripper_finger_L1_1",
+        "left_ezgripper_finger_L1_2",
+        "left_ezgripper_finger_L2_1",
+        "left_ezgripper_finger_L2_2"
+    ],
+    "standoff": [
+        0.0,
+        0.02
+    ],
+    "bbox": [
+        [
+            -0.0730890257055405,
+            -0.05028760287324867,
+            -1.2856234471887005e-07
+        ],
+        [
+            0.07308819511959541,
+            0.024756320693738076,
+            0.17140433640332886
+        ]
+    ],
+    "symmetric": true,
+    "type": "revolute_2f"
+
+}

grippers/ezgripper/gripper.urdf

@@ -0,0 +1,213 @@
+<?xml version="1.0" ?>
+<!-- source: https://github.com/SAKErobotics/EZGripper/tree/master/ezgripper_driver -->
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/beichun/research/grasp/catkin_ws/src/EZGripper/ezgripper_driver/urdf/ezgripper_dual_gen2_standalone.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ezgripper_stand_alone" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- links -->
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <origin rpy="-1.5708 -1.5708 0" xyz="0 0 0"/>
+    <parent link="world"/>
+    <child link="left_ezgripper_palm_link"/>
+  </joint>
+
+  <link name="left_ezgripper_palm_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L1_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L1_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L2_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L2_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ezgripper_knuckle_palm_L1_1" type="revolute">
+    <parent link="left_ezgripper_palm_link"/>
+    <child link="left_ezgripper_finger_L1_1"/>
+    <origin rpy="-1.5708 0 1.57075" xyz="0.072569 0.03 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_palm_L1_2" type="revolute">
+    <parent link="left_ezgripper_palm_link"/>
+    <child link="left_ezgripper_finger_L1_2"/>
+    <origin rpy="1.5708 0 -1.57075" xyz="0.072569 -0.03 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_L1_L2_1" type="revolute">
+    <parent link="left_ezgripper_finger_L1_1"/>
+    <child link="left_ezgripper_finger_L2_1"/>
+    <origin rpy="0 0 0" xyz="0.052 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_L1_L2_2" type="revolute">
+    <parent link="left_ezgripper_finger_L1_2"/>
+    <child link="left_ezgripper_finger_L2_2"/>
+    <origin rpy="0 0 0" xyz="0.052 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+</robot>

grippers/ezgripper/gripper_spherical_dof.urdf

@@ -0,0 +1,249 @@
+<?xml version="1.0" ?>
+<!-- source: https://github.com/SAKErobotics/EZGripper/tree/master/ezgripper_driver -->
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/beichun/research/grasp/catkin_ws/src/EZGripper/ezgripper_driver/urdf/ezgripper_dual_gen2_standalone.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ezgripper_stand_alone" xmlns:xacro="http://ros.org/wiki/xacro">
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <origin rpy="-1.5708 -1.5708 0" xyz="0 0 0"/>
+    <parent link="world"/>
+    <child link="left_ezgripper_palm_link"/>
+  </joint>
+
+  <link name="left_ezgripper_palm_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Palm_Dual_Gen2_cvx4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L1_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L1_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L1_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L2_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_ezgripper_finger_L2_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx0.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx1.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx2.obj"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/SAKE_Finger_L2_Gen2_cvx3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ezgripper_knuckle_palm_L1_1" type="revolute">
+    <parent link="left_ezgripper_palm_link"/>
+    <child link="left_ezgripper_finger_L1_1"/>
+    <origin rpy="-1.5708 0 1.57075" xyz="0.072569 0.03 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_palm_L1_2" type="revolute">
+    <parent link="left_ezgripper_palm_link"/>
+    <child link="left_ezgripper_finger_L1_2"/>
+    <origin rpy="1.5708 0 -1.57075" xyz="0.072569 -0.03 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_L1_L2_1" type="revolute">
+    <parent link="left_ezgripper_finger_L1_1"/>
+    <child link="left_ezgripper_finger_L2_1"/>
+    <origin rpy="0 0 0" xyz="0.052 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+  <joint name="left_ezgripper_knuckle_L1_L2_2" type="revolute">
+    <parent link="left_ezgripper_finger_L1_2"/>
+    <child link="left_ezgripper_finger_L2_2"/>
+    <origin rpy="0 0 0" xyz="0.052 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0" upper="1.94" velocity="3.67"/>
+    <mimic joint="left_ezgripper_knuckle_palm_L1_1"/>
+  </joint>
+</robot>

grippers/ezgripper/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [-0.003982545807957649, 0.005367562174797058, 0.004937183111906052, 0.0062994398176670074, 0.005166666582226753, 0.0017110779881477356, 0.008746938779950142, 0.010030843317508698, 0.0003190450370311737, -0.0008971970528364182, 0.0019516199827194214, 0.00772760808467865, 0.0010007470846176147, 0.0008544027805328369, 0.007040798664093018, 0.003663480281829834, 0.0020445361733436584, 0.006501294672489166, 0.00017840415239334106, 0.0016584638506174088, 0.006819114089012146, 0.004527226090431213, -0.0010924264788627625, -0.0016585253179073334, -0.012606069445610046, -0.0005371393635869026, -0.00574825145304203, 0.006684742867946625, -0.003119189292192459, -0.0073872581124305725, -0.00660773366689682, -0.0015722662210464478, 0.001086600124835968, 0.0008006766438484192, -0.0042381733655929565, -0.0005066655576229095, 0.0009091533720493317, 0.005961302667856216, 0.00695452094078064, 0.009492311626672745, -0.0023517718072980642, 0.0028469711542129517, -0.001643933355808258, -0.005823887884616852, -0.00024030357599258423, -0.0057828836143016815, 0.0069271475076675415, -0.006751053035259247, 0.004976864904165268, -0.00591466948390007, 0.005102775990962982, -0.006556980311870575, -0.011660583317279816, 0.00942656397819519, 0.0005602911114692688, -0.0038279881700873375, 0.0028071850538253784, -0.0025555063039064407, -0.007472025230526924, 0.0010613314807415009, -0.004625089466571808, -0.002504652366042137, -0.0005603758618235588, -0.0012574605643749237], "close": [-0.003318650647997856, 0.0011608973145484924, 0.000565309077501297, 0.0024129152297973633, 0.004308486357331276, 0.00038897059857845306, 0.002359379082918167, -0.0004998967051506042, 0.0022174790501594543, -0.0017175432294607162, -7.503479719161987e-05, 0.002138826996088028, -0.0011169090867042542, 0.0012112408876419067, 0.0015295371413230896, -4.459172487258911e-05, 0.003197934478521347, 0.0003936067223548889, -0.0017545223236083984, -0.00022067129611968994, 0.00043598562479019165, -0.0016414634883403778, -0.0003205128014087677, -0.0017903223633766174, 0.00010624527931213379, 0.0003349119797348976, 0.00019707554019987583, -0.001978054642677307, -0.005685538053512573, -0.002736225724220276, 0.0010741129517555237, -0.005034841597080231, 0.0027956292033195496, -0.0004887934774160385, -0.002616286277770996, -0.000551711767911911, -0.0023974785581231117, 0.001223195344209671, 0.004286281764507294, 0.001095060259103775, 0.002938647987321019, -0.0031081438064575195, -0.001860242336988449, 0.0005925744771957397, -0.0019425004720687866, 0.003134608268737793, -0.0010020360350608826, -0.0020751953125, 0.0032753199338912964, 0.0030504874885082245, -0.0005828738212585449, -0.0011236593127250671, 0.003433607518672943, 0.0026058629155158997, 0.0031926818192005157, -0.0035529835149645805, -0.0006327033042907715, 0.0008529778569936752, -0.002027830109000206, 0.0008633993566036224, 0.0014960039407014847, 0.00012427940964698792, 0.002236827276647091, 0.0021370835602283478], "half": [-0.003884715959429741, 0.004357978701591492, -0.005801260471343994, 0.002806536853313446, 0.0007082950323820114, 0.001029709354043007, 0.0042066387832164764, 0.0010939761996269226, 0.003890376538038254, 0.003994012251496315, -0.002833932638168335, -8.284673094749451e-05, -0.0006463602185249329, 0.0052003413438797, -0.0010515786707401276, 0.002108365297317505, 0.004383839666843414, 0.0025541186332702637, 0.0013477392494678497, 0.0021774452179670334, 0.003781992942094803, -0.004365496337413788, -0.003438841551542282, 0.005241755396127701, -0.0035138726234436035, -0.003942507319152355, -0.0015662831719964743, 0.0024585723876953125, -0.003397509455680847, -0.006315775215625763, -0.0009798184037208557, -0.002446107566356659, 0.005287092179059982, 0.0022731777280569077, 0.0007175803184509277, 0.00045218318700790405, 0.004830730147659779, 0.002504054456949234, 0.004910096526145935, 0.002261422574520111, 0.0013866976369172335, -0.0023519694805145264, -0.001801762729883194, -0.0019606202840805054, -0.001566283404827118, -0.0040528737008571625, -0.003966562449932098, 0.0005728676915168762, 0.0036900416016578674, 0.0005645789206027985, 0.00581292062997818, -0.004291266202926636, -0.006482236087322235, -0.0004923120141029358, -0.004999600350856781, 0.002059296704828739, 0.004198737442493439, 0.000107521191239357, 0.0007456075400114059, -0.0014464668929576874, 0.004686024039983749, -0.0057605113834142685, 0.002901889383792877, -0.0017733462154865265]}

grippers/franka_umi/README.md

@@ -0,0 +1,3 @@
+From:
+
+https://github.com/frankaemika/franka_ros/tree/develop

grippers/franka_umi/config.json

@@ -0,0 +1,59 @@
+{
+    "open": {
+        "panda_finger_joint1": 0.04
+    },
+    "close": {
+        "panda_finger_joint1": 0.0
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.177
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.08,
+            0.022,
+            0.1
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.14
+        ],
+        "extents2": [
+            0.04,
+            0.022,
+            0.1
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.14
+        ]
+    },
+    "links": [
+        "world",
+        "panda_hand",
+        "panda_leftfinger",
+        "panda_rightfinger"
+    ],
+    "standoff": [
+        0,
+        0.04
+    ],
+    "bbox": [
+        [
+            -0.1004258601675494,
+            -0.031635915597160905,
+            -0.02592480182647705
+        ],
+        [
+            0.10398972049475333,
+            0.03161578936421271,
+            0.19176438635127807
+        ]
+    ],
+    "symmetric": true,
+    "type": "parallel_2f"
+}

grippers/franka_umi/gripper.urdf

@@ -0,0 +1,96 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from hand.urdf.xacro                | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="hand">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 1.5708" xyz="0 0 0.0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_leftfinger">
+    <visual>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/visual/left_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx0.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx1.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/visual/right_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx0.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx1.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="70" lower="0.0" upper="0.04" velocity="0.05"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="70" lower="0.0" upper="0.04" velocity="0.05"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+</robot>
+

grippers/franka_umi/gripper_spherical_dof.urdf

@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from hand.urdf.xacro                | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="hand">
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 1.5708" xyz="0 0 0.0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_leftfinger">
+    <visual>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/visual/left_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx0.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx1.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 -1.5708" xyz="0.0125 0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/left_finger_cvx2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/visual/right_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx0.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx1.obj"/>
+      </geometry>
+    </collision>
+        <collision>
+      <origin rpy="0 3.14159 1.5708" xyz="-0.0125 -0.002 0.01"/>
+      <geometry>
+        <mesh filename="./meshes/collision/right_finger_cvx2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="70" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="70" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+</robot>
+

grippers/franka_umi/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [-0.006673062220215797, 0.006214994937181473, 0.0071572065353393555, 0.008261702954769135, 0.0030727293342351913, 0.0024961698800325394, 0.011148080229759216, 0.011228173971176147, -0.0006158612668514252, -0.003045167773962021, 0.00550687313079834, 0.004421906545758247, 0.004093669354915619, 0.005402132868766785, 0.005767233669757843, 0.0038745850324630737, 4.5649707317352295e-05, 0.008993223309516907, 0.005482269451022148, -0.0020598173141479492, 0.005289703607559204, 0.004690155386924744, 0.005500070750713348, 0.00031862780451774597, -0.008660085499286652, -0.003224003128707409, -0.005498794838786125, 0.004429981112480164, -0.008348904550075531, -0.0025540590286254883, -0.007223382592201233, 0.0028222501277923584, -0.001895703375339508, 0.004384866915643215, -0.0013320297002792358, 0.0028835348784923553, 0.000662902370095253, 0.008401330560445786, 0.005400665104389191, 0.001812320202589035, -0.0016327823977917433, 0.003963936120271683, -0.0016815103590488434, -0.007549546658992767, -0.0009646564722061157, -0.005506772547960281, 0.004047021269798279, -0.008957915008068085, 0.0054192207753658295, -0.008627030998468399, 0.005381278693675995, -0.006241694092750549, -0.014482393860816956, 0.013766676187515259, 0.0009137913584709167, -0.003900148905813694, 0.001991681754589081, -0.0030661821365356445, -0.007176768034696579, -0.001146078109741211, -0.003557484596967697, -0.0012502335011959076, -0.002659238874912262, 0.0013360213488340378], "close": [-0.00736265629529953, 0.008999429643154144, 0.00253203883767128, -0.0019616633653640747, 0.006592944264411926, -0.0027871616184711456, 0.0036897286772727966, 0.004858329892158508, 0.003644149750471115, -0.00047740526497364044, -0.004630453884601593, 0.0010371934622526169, 0.002151966094970703, 0.003510933369398117, 0.0013380162417888641, 0.005376964807510376, 0.0031272470951080322, 0.001886412501335144, -0.005049910396337509, 0.002157805487513542, 0.004617087543010712, -0.004222080111503601, -0.003136593848466873, -0.0016090422868728638, -0.00763469934463501, -0.004955639131367207, -0.005206950008869171, 0.0031711310148239136, 0.007703542709350586, -0.0035338476300239563, -0.008599020540714264, -0.004399217665195465, 0.005864046514034271, 0.00402675848454237, -0.0064852237701416016, -0.0006662793457508087, -0.001095680519938469, 0.00014730170369148254, 0.008761435747146606, 0.010393965989351273, -0.004565310664474964, -0.00246555358171463, -0.002454068511724472, -0.0012064836919307709, -0.00831315666437149, -0.0010350123047828674, 0.0011175908148288727, -0.0035696178674697876, -0.0038846172392368317, -0.007658068090677261, 0.006573118269443512, -0.005690321326255798, -0.00464262068271637, 0.004525206983089447, 0.004081506282091141, -0.005319974385201931, -0.0018676742911338806, 0.006590589880943298, 0.00048540160059928894, 0.0008224844932556152, -0.0012060627341270447, -0.005895975045859814, -0.0021950537338852882, -0.0016638338565826416], "half": [-0.0069148726761341095, 0.008136775344610214, 0.006536327302455902, 0.0024483539164066315, 0.0038998816162347794, -0.0019229650497436523, 0.006858767941594124, 0.010523084551095963, 0.00019922107458114624, -0.003930872306227684, -0.0019022747874259949, 0.0019659344106912613, 0.005121909081935883, 0.0003114081919193268, 0.006758697330951691, 0.00104580819606781, 0.0014997385442256927, 0.005803752690553665, 0.0014033876359462738, -0.0008119195699691772, 0.004734355956315994, -0.001812376081943512, 0.0025193002074956894, 0.0019615553319454193, -0.0076771080493927, -0.004960981197655201, -0.005569159984588623, 0.0041715651750564575, 2.985820174217224e-05, 0.0018653273582458496, -0.008318997919559479, -0.00135069340467453, 0.005192779004573822, 0.006760348565876484, -0.009048998355865479, 0.003949251025915146, -0.0016327165067195892, 0.003977682441473007, 0.004798434674739838, 0.006006535142660141, -0.0032732232939451933, 0.0018961802124977112, -0.0018057823181152344, -0.003635220229625702, -0.008173234760761261, -0.0021641477942466736, 0.003462601453065872, -0.005090855062007904, -0.0043386369943618774, -0.007929254323244095, 0.0072783902287483215, -0.004377886652946472, -0.00671212375164032, 0.009231261909008026, 0.005655553191900253, -0.004340081475675106, -0.002709038555622101, 0.002425042912364006, -0.003564797341823578, 0.002794511616230011, -0.0011131800711154938, -0.0010103024542331696, -0.00813282374292612, -0.0003928113728761673]}

grippers/franka_umi/vis_mesh.obj

@@ -0,0 +1,3640 @@
+# https://github.com/mikedh/trimesh
+v -0.09012898 0.01673458 0.06443186
+v 0.08927116 0.01713458 0.06361439
+v 0.00055840 0.03158979 0.00621423
+v 0.09552484 -0.01705332 0.02212120
+v 0.09790768 -0.01751002 0.05166616
+v 0.00198662 -0.03159750 0.00115293
+v -0.07576962 -0.02598126 -0.00508223
+v 0.00057885 -0.03163592 0.00597307
+v 0.09680219 0.01703352 0.03032204
+v 0.00186074 0.03161579 0.00117971
+v 0.09740699 0.01758546 0.05198465
+v -0.09460201 0.01855551 0.05661729
+v 0.09190618 -0.01680383 0.00629548
+v 0.08753296 -0.01681192 -0.00120645
+v 0.09953746 0.01623047 0.05158409
+v 0.10398972 -0.00004070 0.00569088
+v 0.10374270 -0.00001689 -0.00919930
+v 0.10115783 -0.00361640 -0.01261032
+v 0.10259786 -0.00342918 -0.00896430
+v -0.08206502 -0.02527066 0.00519704
+v -0.04178420 -0.02801102 -0.00639640
+v -0.09280849 -0.00011291 0.06596215
+v -0.09371245 -0.01256706 0.06516847
+v -0.09127641 -0.01442229 0.06568974
+v 0.09070038 -0.01725433 0.06308201
+v 0.09070638 -0.01547137 0.06519010
+v -0.09025214 -0.01676757 0.06433220
+v 0.09160285 0.01695586 0.00556283
+v 0.09384751 0.01760751 0.05844849
+v 0.10018747 0.01250605 0.05689415
+v -0.10019985 0.01555056 0.05467260
+v -0.09849364 0.01926846 0.04494174
+v -0.10028528 0.01621802 0.04586977
+v 0.04551993 0.00191760 -0.02565943
+v -0.04204245 0.02801493 -0.00634960
+v 0.08296617 0.00381064 -0.02444934
+v -0.09369192 0.02067053 0.04330829
+v -0.08118060 0.02544764 0.00350060
+v 0.08358592 -0.00363651 -0.02460626
+v 0.08223634 -0.01653239 -0.00511811
+v 0.10009117 -0.01401675 0.05602695
+v 0.09962869 -0.01601276 0.04930143
+v 0.08776600 -0.00321477 -0.02388439
+v 0.09249580 -0.01298759 0.06571195
+v 0.09294532 -0.00050530 0.06595311
+v -0.09267219 0.01353924 0.06568788
+v 0.09192696 0.01342515 0.06573131
+v -0.09726050 -0.01922958 0.05058843
+v 0.08513211 0.01655853 -0.00387274
+v 0.10271563 0.00349515 -0.00802934
+v -0.09040149 0.02386882 0.00436824
+v -0.09373564 0.02270746 0.01434002
+v -0.07529767 0.02603403 -0.00503085
+v -0.07437764 0.02481648 -0.00715570
+v 0.04586986 -0.00149998 -0.02592480
+v -0.08025997 -0.00083407 -0.00732172
+v -0.07790146 0.02295881 -0.00739904
+v -0.08017428 -0.02276142 -0.00690954
+v 0.09945143 0.00003218 -0.01716121
+v 0.09855405 -0.01663178 0.05473394
+v 0.10119467 0.00360250 -0.01262764
+v -0.09747105 -0.00161709 0.06230734
+v 0.09177952 0.01571872 0.06491254
+v -0.09201546 -0.01844902 0.05839317
+v 0.08797474 -0.00062667 -0.02496160
+v 0.08797288 0.00307632 -0.02397873
+v -0.09701113 0.01980169 0.02091398
+v -0.10003477 0.00994118 0.05834080
+v -0.09906728 0.01712909 0.05430516
+v -0.09461535 -0.00031448 0.00757466
+v -0.09849606 -0.00001631 0.02708179
+v -0.08656162 -0.00033764 -0.00416328
+v -0.08825006 0.02231396 -0.00193320
+v -0.08335528 0.02237667 -0.00552611
+v -0.09092682 -0.02132529 0.00097980
+v -0.08543439 -0.02273309 -0.00412033
+v -0.08589226 -0.02449557 -0.00183273
+v 0.08400230 0.00184310 -0.02552490
+v -0.07666791 -0.02465053 -0.00693213
+v 0.09406284 0.01313908 0.06468318
+v 0.09998268 -0.00932350 0.05848920
+v -0.09769707 -0.01906715 0.02462748
+v -0.10042586 -0.00449476 0.05811909
+v -0.10016816 -0.01462347 0.05573492
+v 0.09941621 0.01580527 0.05497027
+v -0.09433321 0.02134224 0.00894201
+v -0.09099504 -0.00017374 0.00057678
+v -0.09179476 0.02148257 0.00268413
+v -0.08170268 0.02451487 -0.00505142
+v -0.08574020 0.02472907 -0.00123169
+v -0.09466784 -0.02065799 0.00953798
+v 0.10030148 0.00119096 0.05862313
+v 0.09665588 0.00046996 0.06307836
+v -0.09290565 0.01539656 0.06455627
+v 0.08254847 -0.00086753 -0.02587020
+v -0.09116623 -0.02355612 0.00460792
+v 0.09344175 -0.01461668 0.06450005
+v -0.09289678 -0.02302643 0.00987686
+v -0.09544163 -0.02182249 0.02175636
+v -0.09951787 -0.01819300 0.04381417
+v -0.09320920 -0.01604587 0.06361687
+v -0.09936280 -0.01699521 0.05411479
+v 0.07482235 -0.01249960 0.08339991
+v 0.07482216 0.01330040 0.08339991
+v 0.07446567 -0.01249961 0.08339991
+v 0.07446548 0.01330039 0.08339991
+v 0.07368812 -0.01249961 0.08339992
+v 0.07368793 0.01330039 0.08339992
+v 0.06918299 -0.01249965 0.08339993
+v 0.06918280 0.01330035 0.08339993
+v 0.06764484 -0.01249966 0.08339993
+v 0.06764465 0.01330034 0.08339993
+v 0.04380009 -0.01249983 0.08339999
+v 0.04379990 0.01330017 0.08339999
+v 0.07229204 0.01330038 0.10198494
+v 0.06918284 0.01330035 0.09922390
+v 0.06764469 0.01330034 0.09887284
+v 0.05455638 0.01330025 0.10630847
+v 0.04908185 0.01330021 0.10630849
+v 0.06217676 0.01330030 0.11144761
+v 0.04956411 0.01330021 0.13565568
+v 0.05176775 0.01330023 0.13933722
+v 0.06117158 0.01330030 0.14642534
+v 0.06039681 0.01330029 0.14734346
+v 0.07124058 0.01330037 0.13150573
+v 0.07381800 0.01330039 0.12245085
+v 0.07368802 0.01330039 0.11932057
+v 0.04199988 0.01330016 0.07690000
+v 0.04526782 0.01330018 0.07439999
+v 0.04199986 0.01330016 0.07140000
+v 0.04499987 0.01330018 0.07339999
+v 0.04240178 0.01330016 0.06990000
+v 0.04526782 0.01330018 0.07239999
+v 0.04349986 0.01330017 0.06880192
+v 0.04599987 0.01330018 0.07166794
+v 0.04499986 0.01330018 0.06839999
+v 0.04699986 0.01330019 0.07139999
+v 0.06764461 0.01330034 0.06839993
+v 0.04799987 0.01330020 0.07166793
+v 0.04873192 0.01330020 0.07239998
+v 0.04899987 0.01330021 0.07339998
+v 0.06764463 0.01330034 0.07689993
+v 0.04873192 0.01330020 0.07439998
+v 0.04799987 0.01330020 0.07513203
+v 0.04699987 0.01330019 0.07539999
+v 0.04599987 0.01330018 0.07513204
+v 0.07873192 0.01330042 0.07239990
+v 0.07899987 0.01330043 0.07339990
+v 0.08172018 0.01330045 0.07154907
+v 0.07499987 0.01330040 0.07339991
+v 0.07491101 0.01330040 0.07689991
+v 0.07526782 0.01330040 0.07439991
+v 0.07599988 0.01330040 0.07513196
+v 0.08139507 0.01330044 0.07690817
+v 0.07873192 0.01330042 0.07439990
+v 0.07799987 0.01330042 0.07513196
+v 0.07699988 0.01330041 0.07539991
+v 0.08153642 0.01330045 0.07035603
+v 0.08089731 0.01330044 0.06933199
+v 0.07799986 0.01330042 0.07166785
+v 0.07990631 0.01330043 0.06864275
+v 0.07699986 0.01330041 0.07139991
+v 0.07872388 0.01330042 0.06839990
+v 0.07599987 0.01330040 0.07166786
+v 0.07491099 0.01330040 0.06839991
+v 0.07526782 0.01330040 0.07239991
+v 0.07529788 0.01330040 0.07839991
+v 0.07502279 0.01330040 0.08139991
+v 0.08052866 0.01330044 0.08642849
+v 0.07491102 0.01330040 0.08239991
+v 0.07974917 0.01330043 0.10422356
+v 0.07892655 0.01330043 0.10341732
+v 0.07491109 0.01330040 0.10630842
+v 0.07491108 0.01330040 0.10212180
+v 0.07491110 0.01330040 0.11331823
+v 0.08005584 0.01330043 0.11235738
+v 0.07491110 0.01330040 0.11144758
+v 0.07699997 0.01330041 0.11039991
+v 0.07599997 0.01330040 0.11013196
+v 0.07526791 0.01330040 0.10939991
+v 0.07499996 0.01330040 0.10839991
+v 0.07526791 0.01330040 0.10739991
+v 0.07599996 0.01330040 0.10666786
+v 0.07699996 0.01330041 0.10639991
+v 0.08135596 0.01330044 0.10594527
+v 0.07799996 0.01330042 0.10666785
+v 0.07873201 0.01330042 0.10739990
+v 0.08199641 0.01330045 0.10821152
+v 0.07899996 0.01330043 0.10839990
+v 0.08152843 0.01330045 0.11051957
+v 0.07873202 0.01330042 0.10939990
+v 0.07799997 0.01330042 0.11013195
+v 0.07600001 0.01330040 0.11453426
+v 0.07552733 0.01330040 0.11558464
+v 0.07497643 0.01330040 0.11789086
+v 0.07683364 0.01330041 0.11373941
+v 0.07790533 0.01330042 0.11331726
+v 0.06918289 0.01330035 0.11932058
+v 0.06918294 0.01330035 0.13565563
+v 0.06992225 0.01330036 0.13569036
+v 0.06930610 0.01330036 0.13756189
+v 0.06764479 0.01330034 0.13565563
+v 0.06869109 0.01330035 0.13938165
+v 0.06590310 0.01330033 0.14710601
+v 0.06075092 0.01330029 0.14767201
+v 0.05868535 0.01330028 0.15354401
+v 0.05953858 0.01330028 0.16231621
+v 0.04380012 0.01330017 0.16861226
+v 0.04380010 0.01330017 0.15852624
+v 0.04200009 0.01330016 0.15603514
+v 0.05266234 0.01330023 0.16877001
+v 0.05217528 0.01330023 0.17706881
+v 0.05536105 0.01330025 0.16225177
+v 0.04380013 0.01330017 0.17087714
+v 0.04200013 0.01330016 0.16982358
+v 0.04380016 0.01330017 0.18227510
+v 0.04200016 0.01330016 0.18227511
+v 0.04380017 0.01330017 0.18759771
+v 0.04901048 0.01330021 0.17695247
+v 0.05210883 0.01330023 0.17005436
+v 0.04380009 0.01330017 0.15647389
+v 0.04297660 0.01330016 0.19176439
+v 0.04347271 0.01330017 0.19164599
+v 0.04840474 0.01330020 0.17824773
+v 0.04384589 0.01330017 0.19129831
+v 0.04248663 0.01330016 0.19162272
+v 0.04213025 0.01330016 0.19125785
+v 0.04200018 0.01330016 0.19076467
+v 0.04380009 0.01330017 0.15603514
+v 0.04380007 0.01330017 0.14826161
+v 0.04200007 0.01330016 0.14734351
+v 0.05586652 0.01330026 0.16097964
+v 0.04380006 0.01330017 0.14637780
+v 0.04380005 0.01330017 0.13952727
+v 0.04200004 0.01330016 0.13933725
+v 0.04380001 0.01330017 0.12599231
+v 0.06286824 0.01330031 0.14119785
+v 0.06350448 0.01330031 0.13914717
+v 0.05822406 0.01330027 0.15480336
+v 0.04380004 0.01330017 0.13777936
+v 0.04380003 0.01330017 0.13565569
+v 0.04200003 0.01330016 0.13565570
+v 0.04380002 0.01330017 0.13194459
+v 0.04199999 0.01330016 0.11932065
+v 0.04380000 0.01330017 0.12343426
+v 0.04380002 0.01330017 0.13030763
+v 0.04779982 0.01330020 0.13565568
+v 0.04379999 0.01330017 0.11733672
+v 0.04379999 0.01330017 0.11975729
+v 0.06554894 0.01330033 0.13216411
+v 0.06497427 0.01330032 0.13419290
+v 0.06764480 0.01330034 0.13933718
+v 0.06775910 0.01330034 0.14205449
+v 0.04199998 0.01330016 0.11331832
+v 0.04379998 0.01330017 0.11414130
+v 0.04379997 0.01330017 0.11144766
+v 0.04379996 0.01330017 0.10900349
+v 0.04199996 0.01330016 0.10630851
+v 0.06682764 0.01330034 0.12743565
+v 0.06734576 0.01330034 0.12542540
+v 0.04379997 0.01330017 0.11183192
+v 0.04199997 0.01330016 0.11144767
+v 0.06764475 0.01330034 0.12048597
+v 0.06846187 0.01330035 0.12087946
+v 0.06764475 0.01330034 0.11932059
+v 0.06764474 0.01330034 0.11826615
+v 0.06522470 0.01330033 0.11932059
+v 0.05736986 0.01330027 0.11331828
+v 0.05276017 0.01330023 0.11331829
+v 0.05348525 0.01330024 0.11144764
+v 0.04379995 0.01330017 0.10423560
+v 0.04199995 0.01330016 0.10212188
+v 0.04379996 0.01330017 0.10630850
+v 0.04379996 0.01330017 0.10678368
+v 0.04887556 0.01330021 0.11144765
+v 0.06892766 0.01330035 0.11888395
+v 0.07368801 0.01330039 0.11331823
+v 0.06990390 0.01330036 0.11448015
+v 0.06918288 0.01330035 0.11419718
+v 0.06764473 0.01330034 0.11331825
+v 0.06764473 0.01330034 0.11144760
+v 0.06694330 0.01330034 0.11331825
+v 0.04379993 0.01330017 0.09765885
+v 0.04379993 0.01330017 0.09548213
+v 0.04199993 0.01330016 0.09465551
+v 0.06918288 0.01330035 0.11331825
+v 0.06918288 0.01330035 0.11204867
+v 0.06765130 0.01330034 0.11144760
+v 0.06764473 0.01330034 0.11144502
+v 0.06764473 0.01330034 0.11359353
+v 0.07368800 0.01330039 0.11144758
+v 0.07032082 0.01330036 0.11249526
+v 0.07117510 0.01330037 0.10819554
+v 0.07368799 0.01330039 0.10630842
+v 0.06918286 0.01330035 0.10758104
+v 0.04388860 0.01330017 0.10212188
+v 0.04379995 0.01330017 0.10208709
+v 0.04379994 0.01330017 0.09975183
+v 0.05148375 0.01330022 0.10212186
+v 0.05826929 0.01330027 0.10212184
+v 0.06505699 0.01330032 0.10630844
+v 0.06764471 0.01330034 0.10501363
+v 0.07154589 0.01330037 0.10621693
+v 0.06918286 0.01330035 0.10548807
+v 0.06918286 0.01330035 0.10630843
+v 0.06764471 0.01330034 0.10630844
+v 0.07368798 0.01330039 0.10212180
+v 0.06764471 0.01330034 0.10710661
+v 0.07261878 0.01330038 0.10000809
+v 0.07326709 0.01330038 0.09580856
+v 0.07368796 0.01330039 0.09465542
+v 0.06918283 0.01330035 0.09519299
+v 0.04379992 0.01330017 0.09136734
+v 0.04199991 0.01330016 0.08950341
+v 0.04379992 0.01330017 0.09343071
+v 0.04916632 0.01330021 0.09465549
+v 0.06764470 0.01330034 0.10092427
+v 0.06764466 0.01330034 0.08713686
+v 0.04379990 0.01330017 0.08535007
+v 0.04379991 0.01330017 0.08735567
+v 0.04199989 0.01330016 0.08240000
+v 0.04379991 0.01330017 0.08934475
+v 0.04485257 0.01330018 0.08950341
+v 0.06764468 0.01330034 0.09293857
+v 0.06561626 0.01330033 0.09465544
+v 0.06764468 0.01330034 0.09465544
+v 0.06918283 0.01330035 0.09465543
+v 0.06918283 0.01330035 0.09317040
+v 0.06764468 0.01330034 0.09496116
+v 0.07355121 0.01330039 0.09382879
+v 0.07368794 0.01330039 0.08959531
+v 0.07410881 0.01330039 0.08962685
+v 0.07446549 0.01330039 0.08950333
+v 0.07446551 0.01330039 0.09465542
+v 0.06764467 0.01330034 0.08914246
+v 0.06918281 0.01330035 0.08925772
+v 0.06918281 0.01330035 0.08725211
+v 0.07246051 0.01330038 0.08950333
+v 0.07368794 0.01330039 0.08758970
+v 0.07368794 0.01330039 0.08950333
+v 0.07435111 0.01330039 0.08763940
+v 0.07491104 0.01330040 0.08950333
+v 0.07491106 0.01330040 0.09465542
+v 0.07844214 0.01330042 0.10120900
+v 0.07846836 0.01330042 0.10236054
+v 0.06764465 0.01330034 0.08239993
+v 0.06918280 0.01330035 0.08239993
+v 0.07368792 0.01330039 0.08239992
+v 0.07446547 0.01330039 0.08239991
+v 0.07491101 0.01330040 0.07839991
+v 0.07446546 0.01330039 0.07689991
+v 0.07446546 0.01330039 0.07839991
+v 0.07368791 0.01330039 0.07689992
+v 0.07368791 0.01330039 0.07839992
+v 0.06918278 0.01330035 0.07689993
+v 0.06918279 0.01330035 0.07839993
+v 0.06764464 0.01330034 0.07839993
+v 0.04379988 0.01330017 0.07839999
+v 0.04379989 0.01330017 0.08140000
+v 0.06764465 0.01330034 0.08139993
+v 0.06918279 0.01330035 0.08139993
+v 0.07368792 0.01330039 0.08139992
+v 0.07446547 0.01330039 0.08139991
+v 0.07491102 0.01330040 0.08139991
+v 0.06918276 0.01330035 0.06839993
+v 0.07368789 0.01330039 0.06839992
+v 0.07446544 0.01330039 0.06839991
+v 0.07446553 0.01330039 0.10212180
+v 0.07446554 0.01330039 0.10630842
+v 0.07446555 0.01330039 0.11144758
+v 0.07446556 0.01330039 0.11331823
+v 0.07446557 0.01330039 0.11932057
+v 0.07461673 0.01330039 0.11934622
+v 0.07456444 0.01330039 0.11955466
+v 0.07246070 -0.01249962 0.08950333
+v 0.07368813 -0.01249961 0.08950333
+v 0.07368813 -0.01249961 0.08959531
+v 0.06765148 -0.01249966 0.11144760
+v 0.06764492 -0.01249966 0.11144760
+v 0.06764492 -0.01249966 0.11144502
+v 0.06522489 -0.01249968 0.11932059
+v 0.06764494 -0.01249966 0.11932059
+v 0.06764494 -0.01249966 0.12048597
+v 0.04380017 -0.01249983 0.11414130
+v 0.04380018 -0.01249983 0.11733672
+v 0.04200018 -0.01249985 0.11932065
+v 0.07124077 -0.01249963 0.13150573
+v 0.06992244 -0.01249964 0.13569036
+v 0.06918313 -0.01249965 0.13565563
+v 0.07800005 -0.01249958 0.07166785
+v 0.07700005 -0.01249959 0.07139991
+v 0.07872407 -0.01249958 0.06839990
+v 0.07491129 -0.01249960 0.11331823
+v 0.07683383 -0.01249959 0.11373941
+v 0.07600020 -0.01249960 0.11453426
+v 0.07790552 -0.01249958 0.11331726
+v 0.07491129 -0.01249960 0.11144758
+v 0.08005603 -0.01249957 0.11235738
+v 0.07700015 -0.01249959 0.10639991
+v 0.07600015 -0.01249960 0.10666786
+v 0.07491128 -0.01249960 0.10630842
+v 0.07526810 -0.01249960 0.10939991
+v 0.07500015 -0.01249960 0.10839991
+v 0.07526810 -0.01249960 0.10739991
+v 0.07600016 -0.01249960 0.11013196
+v 0.07700016 -0.01249959 0.11039991
+v 0.07800016 -0.01249958 0.11013195
+v 0.08152862 -0.01249956 0.11051957
+v 0.07873221 -0.01249958 0.10939990
+v 0.08199660 -0.01249955 0.10821152
+v 0.07900015 -0.01249957 0.10839990
+v 0.08135615 -0.01249956 0.10594527
+v 0.07873220 -0.01249958 0.10739990
+v 0.07800015 -0.01249958 0.10666785
+v 0.07846855 -0.01249958 0.10236054
+v 0.07892674 -0.01249957 0.10341732
+v 0.07974936 -0.01249957 0.10422356
+v 0.07491123 -0.01249960 0.08950333
+v 0.07844233 -0.01249958 0.10120900
+v 0.07491124 -0.01249960 0.09465542
+v 0.07491126 -0.01249960 0.10212180
+v 0.07491118 -0.01249960 0.06839991
+v 0.07600006 -0.01249960 0.07166786
+v 0.07526801 -0.01249960 0.07239991
+v 0.07491120 -0.01249960 0.07689991
+v 0.07500006 -0.01249960 0.07339991
+v 0.07526801 -0.01249960 0.07439991
+v 0.07600007 -0.01249960 0.07513196
+v 0.07700006 -0.01249959 0.07539991
+v 0.08139526 -0.01249956 0.07690817
+v 0.07990650 -0.01249957 0.06864275
+v 0.08089750 -0.01249956 0.06933199
+v 0.07873211 -0.01249958 0.07239990
+v 0.08153661 -0.01249956 0.07035603
+v 0.07900006 -0.01249957 0.07339990
+v 0.08172037 -0.01249955 0.07154907
+v 0.07873211 -0.01249958 0.07439990
+v 0.07800006 -0.01249958 0.07513196
+v 0.04200007 -0.01249985 0.07690000
+v 0.04600006 -0.01249982 0.07513204
+v 0.04700006 -0.01249981 0.07539999
+v 0.06764482 -0.01249966 0.07689993
+v 0.04800006 -0.01249980 0.07513203
+v 0.04873211 -0.01249980 0.07439998
+v 0.04900006 -0.01249979 0.07339998
+v 0.04873211 -0.01249980 0.07239998
+v 0.06764480 -0.01249966 0.06839993
+v 0.04800005 -0.01249980 0.07166793
+v 0.04500005 -0.01249982 0.06839999
+v 0.04700005 -0.01249981 0.07139999
+v 0.04350005 -0.01249983 0.06880192
+v 0.04600005 -0.01249982 0.07166794
+v 0.04240197 -0.01249984 0.06990000
+v 0.04526801 -0.01249982 0.07239999
+v 0.04200005 -0.01249985 0.07140000
+v 0.04500006 -0.01249982 0.07339999
+v 0.04526801 -0.01249982 0.07439999
+v 0.04200037 -0.01249985 0.19076467
+v 0.04200035 -0.01249985 0.18227511
+v 0.04380036 -0.01249983 0.18759771
+v 0.04213044 -0.01249984 0.19125785
+v 0.04248682 -0.01249984 0.19162272
+v 0.04297679 -0.01249984 0.19176439
+v 0.04840493 -0.01249980 0.17824773
+v 0.04380032 -0.01249983 0.17087714
+v 0.04380031 -0.01249983 0.16861226
+v 0.04901067 -0.01249979 0.17695247
+v 0.05217547 -0.01249977 0.17706881
+v 0.04384608 -0.01249983 0.19129831
+v 0.04347289 -0.01249983 0.19164599
+v 0.04380029 -0.01249983 0.15852624
+v 0.04200032 -0.01249985 0.16982358
+v 0.04380035 -0.01249983 0.18227510
+v 0.05586671 -0.01249974 0.16097964
+v 0.05822425 -0.01249973 0.15480336
+v 0.05953877 -0.01249972 0.16231621
+v 0.04200028 -0.01249985 0.15603514
+v 0.04380028 -0.01249983 0.15647389
+v 0.05210902 -0.01249977 0.17005436
+v 0.05266253 -0.01249977 0.16877001
+v 0.06590329 -0.01249967 0.14710601
+v 0.06764498 -0.01249966 0.13565563
+v 0.06930629 -0.01249965 0.13756189
+v 0.06764499 -0.01249966 0.13933718
+v 0.06869128 -0.01249965 0.13938165
+v 0.06775929 -0.01249966 0.14205449
+v 0.06918308 -0.01249965 0.11932058
+v 0.07368821 -0.01249961 0.11932057
+v 0.07381819 -0.01249961 0.12245085
+v 0.07446576 -0.01249961 0.11932057
+v 0.07456463 -0.01249961 0.11955466
+v 0.07552752 -0.01249960 0.11558464
+v 0.07497662 -0.01249960 0.11789086
+v 0.07461692 -0.01249961 0.11934622
+v 0.05536124 -0.01249975 0.16225177
+v 0.04380025 -0.01249983 0.14637780
+v 0.04200026 -0.01249985 0.14734351
+v 0.04380026 -0.01249983 0.14826161
+v 0.04380028 -0.01249983 0.15603514
+v 0.06075111 -0.01249971 0.14767201
+v 0.05868554 -0.01249972 0.15354401
+v 0.04380023 -0.01249983 0.13777936
+v 0.04380023 -0.01249983 0.13952727
+v 0.04380021 -0.01249983 0.13194459
+v 0.04380022 -0.01249983 0.13565569
+v 0.04200022 -0.01249985 0.13565570
+v 0.04200023 -0.01249985 0.13933725
+v 0.04380019 -0.01249983 0.12343426
+v 0.06350467 -0.01249969 0.13914717
+v 0.06286843 -0.01249969 0.14119785
+v 0.04380020 -0.01249983 0.12599231
+v 0.04380021 -0.01249983 0.13030763
+v 0.06554913 -0.01249967 0.13216411
+v 0.06682783 -0.01249966 0.12743565
+v 0.04380018 -0.01249983 0.11975729
+v 0.06497446 -0.01249968 0.13419290
+v 0.04780001 -0.01249980 0.13565568
+v 0.04956430 -0.01249979 0.13565568
+v 0.05176794 -0.01249977 0.13933722
+v 0.06117176 -0.01249970 0.14642534
+v 0.06039700 -0.01249971 0.14734346
+v 0.04380015 -0.01249983 0.10900349
+v 0.04380016 -0.01249983 0.11144766
+v 0.04200016 -0.01249985 0.11144767
+v 0.04380016 -0.01249983 0.11183192
+v 0.04200017 -0.01249985 0.11331832
+v 0.04200015 -0.01249985 0.10630851
+v 0.04380015 -0.01249983 0.10678368
+v 0.04887575 -0.01249980 0.11144765
+v 0.05348544 -0.01249976 0.11144764
+v 0.05737005 -0.01249973 0.11331828
+v 0.06846206 -0.01249965 0.12087946
+v 0.06734595 -0.01249966 0.12542540
+v 0.06892785 -0.01249965 0.11888395
+v 0.06764493 -0.01249966 0.11826615
+v 0.05276036 -0.01249977 0.11331829
+v 0.04200014 -0.01249985 0.10212188
+v 0.04380014 -0.01249983 0.10423560
+v 0.04380015 -0.01249983 0.10630850
+v 0.05455657 -0.01249975 0.10630847
+v 0.06990409 -0.01249964 0.11448015
+v 0.06918307 -0.01249965 0.11419718
+v 0.06918307 -0.01249965 0.11331825
+v 0.06764492 -0.01249966 0.11359353
+v 0.06764492 -0.01249966 0.11331825
+v 0.06694349 -0.01249966 0.11331825
+v 0.06217695 -0.01249970 0.11144761
+v 0.06918306 -0.01249965 0.11204867
+v 0.07032101 -0.01249964 0.11249526
+v 0.07368820 -0.01249961 0.11331823
+v 0.04908204 -0.01249979 0.10630849
+v 0.04388879 -0.01249983 0.10212188
+v 0.04380014 -0.01249983 0.10208709
+v 0.04380013 -0.01249983 0.09975183
+v 0.04200012 -0.01249985 0.09465551
+v 0.04380012 -0.01249983 0.09548213
+v 0.04380012 -0.01249983 0.09765885
+v 0.06505718 -0.01249968 0.10630844
+v 0.06764490 -0.01249966 0.10630844
+v 0.06764490 -0.01249966 0.10710661
+v 0.06918305 -0.01249965 0.10630843
+v 0.06918305 -0.01249965 0.10758104
+v 0.07117529 -0.01249963 0.10819554
+v 0.07368818 -0.01249961 0.10630842
+v 0.07368819 -0.01249961 0.11144758
+v 0.05148394 -0.01249978 0.10212186
+v 0.05826948 -0.01249973 0.10212184
+v 0.06764490 -0.01249966 0.10501363
+v 0.06918305 -0.01249965 0.10548807
+v 0.07154608 -0.01249963 0.10621693
+v 0.04916651 -0.01249979 0.09465549
+v 0.06764488 -0.01249966 0.09887284
+v 0.06764489 -0.01249966 0.10092427
+v 0.06918303 -0.01249965 0.09922390
+v 0.07229223 -0.01249962 0.10198494
+v 0.07368817 -0.01249961 0.10212180
+v 0.07261897 -0.01249962 0.10000809
+v 0.07326728 -0.01249962 0.09580856
+v 0.07368815 -0.01249961 0.09465542
+v 0.06918302 -0.01249965 0.09465543
+v 0.04485276 -0.01249982 0.08950341
+v 0.06764487 -0.01249966 0.09293857
+v 0.06561645 -0.01249967 0.09465544
+v 0.04200010 -0.01249985 0.08950341
+v 0.04380011 -0.01249983 0.09136734
+v 0.04380011 -0.01249983 0.09343071
+v 0.06918302 -0.01249965 0.09519299
+v 0.06764487 -0.01249966 0.09496116
+v 0.06764487 -0.01249966 0.09465544
+v 0.06918301 -0.01249965 0.09317040
+v 0.07355140 -0.01249961 0.09382879
+v 0.04380010 -0.01249983 0.08934475
+v 0.04380010 -0.01249983 0.08735567
+v 0.04200008 -0.01249985 0.08240000
+v 0.04380009 -0.01249983 0.08535007
+v 0.06764486 -0.01249966 0.08914246
+v 0.06764485 -0.01249966 0.08713686
+v 0.06918300 -0.01249965 0.08725211
+v 0.06918300 -0.01249965 0.08925772
+v 0.07368813 -0.01249961 0.08758970
+v 0.07435130 -0.01249961 0.08763940
+v 0.07446568 -0.01249961 0.08950333
+v 0.06764484 -0.01249966 0.08239993
+v 0.06918299 -0.01249965 0.08239993
+v 0.07368811 -0.01249961 0.08239992
+v 0.07446566 -0.01249961 0.08239991
+v 0.07491121 -0.01249960 0.08239991
+v 0.08052885 -0.01249956 0.08642849
+v 0.06918298 -0.01249965 0.08139993
+v 0.07368811 -0.01249961 0.08139992
+v 0.07446566 -0.01249961 0.08139991
+v 0.07491121 -0.01249960 0.08139991
+v 0.07502298 -0.01249960 0.08139991
+v 0.07529807 -0.01249960 0.07839991
+v 0.07491120 -0.01249960 0.07839991
+v 0.07446565 -0.01249961 0.07689991
+v 0.07446565 -0.01249961 0.07839991
+v 0.07368810 -0.01249961 0.07689992
+v 0.07368810 -0.01249961 0.07839992
+v 0.06918297 -0.01249965 0.07689993
+v 0.06918298 -0.01249965 0.07839993
+v 0.06764483 -0.01249966 0.07839993
+v 0.04380007 -0.01249983 0.07839999
+v 0.04380008 -0.01249983 0.08140000
+v 0.06764484 -0.01249966 0.08139993
+v 0.07410900 -0.01249961 0.08962685
+v 0.07446570 -0.01249961 0.09465542
+v 0.07446572 -0.01249961 0.10212180
+v 0.07446573 -0.01249961 0.10630842
+v 0.07446574 -0.01249961 0.11144758
+v 0.07446575 -0.01249961 0.11331823
+v 0.06918295 -0.01249965 0.06839993
+v 0.07368808 -0.01249961 0.06839992
+v 0.07446563 -0.01249961 0.06839991
+v -0.07482235 0.01249985 0.08339991
+v -0.07482235 -0.01330016 0.08339991
+v -0.07446567 0.01249985 0.08339991
+v -0.07446567 -0.01330016 0.08339991
+v -0.07368812 0.01249985 0.08339992
+v -0.07368812 -0.01330016 0.08339992
+v -0.06918299 0.01249985 0.08339993
+v -0.06918299 -0.01330016 0.08339993
+v -0.06764484 0.01249985 0.08339993
+v -0.06764484 -0.01330016 0.08339993
+v -0.04380009 0.01249985 0.08339999
+v -0.04380009 -0.01330016 0.08339999
+v -0.07229223 -0.01330016 0.10198494
+v -0.06918303 -0.01330016 0.09922390
+v -0.06764488 -0.01330016 0.09887284
+v -0.05455657 -0.01330016 0.10630847
+v -0.04908204 -0.01330016 0.10630849
+v -0.06217695 -0.01330016 0.11144761
+v -0.04956430 -0.01330016 0.13565568
+v -0.05176794 -0.01330016 0.13933722
+v -0.06117176 -0.01330016 0.14642534
+v -0.06039700 -0.01330016 0.14734346
+v -0.07124077 -0.01330016 0.13150573
+v -0.07381819 -0.01330016 0.12245085
+v -0.07368821 -0.01330016 0.11932057
+v -0.04200007 -0.01330016 0.07690000
+v -0.04526801 -0.01330016 0.07439999
+v -0.04200005 -0.01330016 0.07140000
+v -0.04500006 -0.01330016 0.07339999
+v -0.04240197 -0.01330016 0.06990000
+v -0.04526801 -0.01330016 0.07239999
+v -0.04350005 -0.01330016 0.06880192
+v -0.04600005 -0.01330016 0.07166794
+v -0.04500005 -0.01330016 0.06839999
+v -0.04700005 -0.01330016 0.07139999
+v -0.06764480 -0.01330016 0.06839993
+v -0.04800005 -0.01330016 0.07166793
+v -0.04873211 -0.01330016 0.07239998
+v -0.04900006 -0.01330016 0.07339998
+v -0.06764482 -0.01330016 0.07689993
+v -0.04873211 -0.01330016 0.07439998
+v -0.04800006 -0.01330016 0.07513203
+v -0.04700006 -0.01330016 0.07539999
+v -0.04600006 -0.01330016 0.07513204
+v -0.07873211 -0.01330016 0.07239990
+v -0.07900006 -0.01330016 0.07339990
+v -0.08172037 -0.01330016 0.07154907
+v -0.07500006 -0.01330016 0.07339991
+v -0.07491120 -0.01330016 0.07689991
+v -0.07526801 -0.01330016 0.07439991
+v -0.07600007 -0.01330016 0.07513196
+v -0.08139526 -0.01330016 0.07690817
+v -0.07873211 -0.01330016 0.07439990
+v -0.07800006 -0.01330016 0.07513196
+v -0.07700006 -0.01330016 0.07539991
+v -0.08153661 -0.01330016 0.07035603
+v -0.08089750 -0.01330016 0.06933199
+v -0.07800005 -0.01330016 0.07166785
+v -0.07990650 -0.01330016 0.06864275
+v -0.07700005 -0.01330016 0.07139991
+v -0.07872407 -0.01330016 0.06839990
+v -0.07600006 -0.01330016 0.07166786
+v -0.07491118 -0.01330016 0.06839991
+v -0.07526801 -0.01330016 0.07239991
+v -0.07529807 -0.01330016 0.07839991
+v -0.07502298 -0.01330016 0.08139991
+v -0.08052885 -0.01330016 0.08642849
+v -0.07491121 -0.01330016 0.08239991
+v -0.07974936 -0.01330016 0.10422356
+v -0.07892674 -0.01330016 0.10341732
+v -0.07491128 -0.01330016 0.10630842
+v -0.07491126 -0.01330016 0.10212180
+v -0.07491129 -0.01330016 0.11331823
+v -0.08005603 -0.01330016 0.11235738
+v -0.07491129 -0.01330016 0.11144758
+v -0.07700016 -0.01330016 0.11039991
+v -0.07600016 -0.01330016 0.11013196
+v -0.07526810 -0.01330016 0.10939991
+v -0.07500015 -0.01330016 0.10839991
+v -0.07526810 -0.01330016 0.10739991
+v -0.07600015 -0.01330016 0.10666786
+v -0.07700015 -0.01330016 0.10639991
+v -0.08135615 -0.01330016 0.10594527
+v -0.07800015 -0.01330016 0.10666785
+v -0.07873220 -0.01330016 0.10739990
+v -0.08199660 -0.01330016 0.10821152
+v -0.07900015 -0.01330016 0.10839990
+v -0.08152862 -0.01330016 0.11051957
+v -0.07873221 -0.01330016 0.10939990
+v -0.07800016 -0.01330016 0.11013195
+v -0.07600020 -0.01330016 0.11453426
+v -0.07552752 -0.01330016 0.11558464
+v -0.07497662 -0.01330016 0.11789086
+v -0.07683383 -0.01330016 0.11373941
+v -0.07790552 -0.01330016 0.11331726
+v -0.06918308 -0.01330016 0.11932058
+v -0.06918313 -0.01330016 0.13565563
+v -0.06992244 -0.01330016 0.13569036
+v -0.06930629 -0.01330016 0.13756189
+v -0.06764498 -0.01330016 0.13565563
+v -0.06869128 -0.01330016 0.13938165
+v -0.06590329 -0.01330016 0.14710601
+v -0.06075111 -0.01330016 0.14767201
+v -0.05868554 -0.01330016 0.15354401
+v -0.05953877 -0.01330016 0.16231621
+v -0.04380031 -0.01330016 0.16861226
+v -0.04380029 -0.01330016 0.15852624
+v -0.04200028 -0.01330016 0.15603514
+v -0.05266253 -0.01330016 0.16877001
+v -0.05217547 -0.01330016 0.17706881
+v -0.05536124 -0.01330016 0.16225177
+v -0.04380032 -0.01330016 0.17087714
+v -0.04200032 -0.01330016 0.16982358
+v -0.04380035 -0.01330016 0.18227510
+v -0.04200035 -0.01330016 0.18227511
+v -0.04380036 -0.01330016 0.18759771
+v -0.04901067 -0.01330016 0.17695247
+v -0.05210902 -0.01330016 0.17005436
+v -0.04380028 -0.01330016 0.15647389
+v -0.04297679 -0.01330016 0.19176439
+v -0.04347289 -0.01330016 0.19164599
+v -0.04840493 -0.01330016 0.17824773
+v -0.04384608 -0.01330016 0.19129831
+v -0.04248682 -0.01330016 0.19162272
+v -0.04213044 -0.01330016 0.19125785
+v -0.04200037 -0.01330016 0.19076467
+v -0.04380028 -0.01330016 0.15603514
+v -0.04380026 -0.01330016 0.14826161
+v -0.04200026 -0.01330016 0.14734351
+v -0.05586671 -0.01330016 0.16097964
+v -0.04380025 -0.01330016 0.14637780
+v -0.04380023 -0.01330016 0.13952727
+v -0.04200023 -0.01330016 0.13933725
+v -0.04380020 -0.01330016 0.12599231
+v -0.06286843 -0.01330016 0.14119785
+v -0.06350467 -0.01330016 0.13914717
+v -0.05822425 -0.01330016 0.15480336
+v -0.04380023 -0.01330016 0.13777936
+v -0.04380022 -0.01330016 0.13565569
+v -0.04200022 -0.01330016 0.13565570
+v -0.04380021 -0.01330016 0.13194459
+v -0.04200018 -0.01330016 0.11932065
+v -0.04380019 -0.01330016 0.12343426
+v -0.04380021 -0.01330016 0.13030763
+v -0.04780001 -0.01330016 0.13565568
+v -0.04380018 -0.01330016 0.11733672
+v -0.04380018 -0.01330016 0.11975729
+v -0.06554913 -0.01330016 0.13216411
+v -0.06497446 -0.01330016 0.13419290
+v -0.06764499 -0.01330016 0.13933718
+v -0.06775929 -0.01330016 0.14205449
+v -0.04200017 -0.01330016 0.11331832
+v -0.04380017 -0.01330016 0.11414130
+v -0.04380016 -0.01330016 0.11144766
+v -0.04380015 -0.01330016 0.10900349
+v -0.04200015 -0.01330016 0.10630851
+v -0.06682783 -0.01330016 0.12743565
+v -0.06734595 -0.01330016 0.12542540
+v -0.04380016 -0.01330016 0.11183192
+v -0.04200016 -0.01330016 0.11144767
+v -0.06764494 -0.01330016 0.12048597
+v -0.06846206 -0.01330016 0.12087946
+v -0.06764494 -0.01330016 0.11932059
+v -0.06764493 -0.01330016 0.11826615
+v -0.06522489 -0.01330016 0.11932059
+v -0.05737005 -0.01330016 0.11331828
+v -0.05276036 -0.01330016 0.11331829
+v -0.05348544 -0.01330016 0.11144764
+v -0.04380014 -0.01330016 0.10423560
+v -0.04200014 -0.01330016 0.10212188
+v -0.04380015 -0.01330016 0.10630850
+v -0.04380015 -0.01330016 0.10678368
+v -0.04887575 -0.01330016 0.11144765
+v -0.06892785 -0.01330016 0.11888395
+v -0.07368820 -0.01330016 0.11331823
+v -0.06990409 -0.01330016 0.11448015
+v -0.06918307 -0.01330016 0.11419718
+v -0.06764492 -0.01330016 0.11331825
+v -0.06764492 -0.01330016 0.11144760
+v -0.06694349 -0.01330016 0.11331825
+v -0.04380012 -0.01330016 0.09765885
+v -0.04380012 -0.01330016 0.09548213
+v -0.04200012 -0.01330016 0.09465551
+v -0.06918307 -0.01330016 0.11331825
+v -0.06918306 -0.01330016 0.11204867
+v -0.06765148 -0.01330016 0.11144760
+v -0.06764492 -0.01330016 0.11144502
+v -0.06764492 -0.01330016 0.11359353
+v -0.07368819 -0.01330016 0.11144758
+v -0.07032101 -0.01330016 0.11249526
+v -0.07117529 -0.01330016 0.10819554
+v -0.07368818 -0.01330016 0.10630842
+v -0.06918305 -0.01330016 0.10758104
+v -0.04388879 -0.01330016 0.10212188
+v -0.04380014 -0.01330016 0.10208709
+v -0.04380013 -0.01330016 0.09975183
+v -0.05148394 -0.01330016 0.10212186
+v -0.05826948 -0.01330016 0.10212184
+v -0.06505718 -0.01330016 0.10630844
+v -0.06764490 -0.01330016 0.10501363
+v -0.07154608 -0.01330016 0.10621693
+v -0.06918305 -0.01330016 0.10548807
+v -0.06918305 -0.01330016 0.10630843
+v -0.06764490 -0.01330016 0.10630844
+v -0.07368817 -0.01330016 0.10212180
+v -0.06764490 -0.01330016 0.10710661
+v -0.07261897 -0.01330016 0.10000809
+v -0.07326728 -0.01330016 0.09580856
+v -0.07368815 -0.01330016 0.09465542
+v -0.06918302 -0.01330016 0.09519299
+v -0.04380011 -0.01330016 0.09136734
+v -0.04200010 -0.01330016 0.08950341
+v -0.04380011 -0.01330016 0.09343071
+v -0.04916651 -0.01330016 0.09465549
+v -0.06764489 -0.01330016 0.10092427
+v -0.06764485 -0.01330016 0.08713686
+v -0.04380009 -0.01330016 0.08535007
+v -0.04380010 -0.01330016 0.08735567
+v -0.04200008 -0.01330016 0.08240000
+v -0.04380010 -0.01330016 0.08934475
+v -0.04485276 -0.01330016 0.08950341
+v -0.06764487 -0.01330016 0.09293857
+v -0.06561645 -0.01330016 0.09465544
+v -0.06764487 -0.01330016 0.09465544
+v -0.06918302 -0.01330016 0.09465543
+v -0.06918301 -0.01330016 0.09317040
+v -0.06764487 -0.01330016 0.09496116
+v -0.07355140 -0.01330016 0.09382879
+v -0.07368813 -0.01330016 0.08959531
+v -0.07410900 -0.01330016 0.08962685
+v -0.07446568 -0.01330016 0.08950333
+v -0.07446570 -0.01330016 0.09465542
+v -0.06764486 -0.01330016 0.08914246
+v -0.06918300 -0.01330016 0.08925772
+v -0.06918300 -0.01330016 0.08725211
+v -0.07246070 -0.01330016 0.08950333
+v -0.07368813 -0.01330016 0.08758970
+v -0.07368813 -0.01330016 0.08950333
+v -0.07435130 -0.01330016 0.08763940
+v -0.07491123 -0.01330016 0.08950333
+v -0.07491124 -0.01330016 0.09465542
+v -0.07844233 -0.01330016 0.10120900
+v -0.07846855 -0.01330016 0.10236054
+v -0.06764484 -0.01330016 0.08239993
+v -0.06918299 -0.01330016 0.08239993
+v -0.07368811 -0.01330016 0.08239992
+v -0.07446566 -0.01330016 0.08239991
+v -0.07491120 -0.01330016 0.07839991
+v -0.07446565 -0.01330016 0.07689991
+v -0.07446565 -0.01330016 0.07839991
+v -0.07368810 -0.01330016 0.07689992
+v -0.07368810 -0.01330016 0.07839992
+v -0.06918297 -0.01330016 0.07689993
+v -0.06918298 -0.01330016 0.07839993
+v -0.06764483 -0.01330016 0.07839993
+v -0.04380007 -0.01330016 0.07839999
+v -0.04380008 -0.01330016 0.08140000
+v -0.06764484 -0.01330016 0.08139993
+v -0.06918298 -0.01330016 0.08139993
+v -0.07368811 -0.01330016 0.08139992
+v -0.07446566 -0.01330016 0.08139991
+v -0.07491121 -0.01330016 0.08139991
+v -0.06918295 -0.01330016 0.06839993
+v -0.07368808 -0.01330016 0.06839992
+v -0.07446563 -0.01330016 0.06839991
+v -0.07446572 -0.01330016 0.10212180
+v -0.07446573 -0.01330016 0.10630842
+v -0.07446574 -0.01330016 0.11144758
+v -0.07446575 -0.01330016 0.11331823
+v -0.07446576 -0.01330016 0.11932057
+v -0.07461692 -0.01330016 0.11934622
+v -0.07456463 -0.01330016 0.11955466
+v -0.07246070 0.01249985 0.08950333
+v -0.07368813 0.01249985 0.08950333
+v -0.07368813 0.01249985 0.08959531
+v -0.06765148 0.01249985 0.11144760
+v -0.06764492 0.01249985 0.11144760
+v -0.06764492 0.01249985 0.11144502
+v -0.06522489 0.01249985 0.11932059
+v -0.06764494 0.01249985 0.11932059
+v -0.06764494 0.01249985 0.12048597
+v -0.04380017 0.01249985 0.11414130
+v -0.04380018 0.01249985 0.11733672
+v -0.04200018 0.01249985 0.11932065
+v -0.07124077 0.01249985 0.13150573
+v -0.06992244 0.01249985 0.13569036
+v -0.06918313 0.01249985 0.13565563
+v -0.07800005 0.01249985 0.07166785
+v -0.07700005 0.01249985 0.07139991
+v -0.07872407 0.01249985 0.06839990
+v -0.07491129 0.01249985 0.11331823
+v -0.07683383 0.01249985 0.11373941
+v -0.07600020 0.01249985 0.11453426
+v -0.07790552 0.01249985 0.11331726
+v -0.07491129 0.01249985 0.11144758
+v -0.08005603 0.01249985 0.11235738
+v -0.07700015 0.01249985 0.10639991
+v -0.07600015 0.01249985 0.10666786
+v -0.07491128 0.01249985 0.10630842
+v -0.07526810 0.01249985 0.10939991
+v -0.07500015 0.01249985 0.10839991
+v -0.07526810 0.01249985 0.10739991
+v -0.07600016 0.01249985 0.11013196
+v -0.07700016 0.01249985 0.11039991
+v -0.07800016 0.01249985 0.11013195
+v -0.08152862 0.01249985 0.11051957
+v -0.07873221 0.01249985 0.10939990
+v -0.08199660 0.01249985 0.10821152
+v -0.07900015 0.01249985 0.10839990
+v -0.08135615 0.01249985 0.10594527
+v -0.07873220 0.01249985 0.10739990
+v -0.07800015 0.01249985 0.10666785
+v -0.07846855 0.01249985 0.10236054
+v -0.07892674 0.01249985 0.10341732
+v -0.07974936 0.01249985 0.10422356
+v -0.07491123 0.01249985 0.08950333
+v -0.07844233 0.01249985 0.10120900
+v -0.07491124 0.01249985 0.09465542
+v -0.07491126 0.01249985 0.10212180
+v -0.07491118 0.01249985 0.06839991
+v -0.07600006 0.01249985 0.07166786
+v -0.07526801 0.01249985 0.07239991
+v -0.07491120 0.01249985 0.07689991
+v -0.07500006 0.01249985 0.07339991
+v -0.07526801 0.01249985 0.07439991
+v -0.07600007 0.01249985 0.07513196
+v -0.07700006 0.01249985 0.07539991
+v -0.08139526 0.01249985 0.07690817
+v -0.07990650 0.01249985 0.06864275
+v -0.08089750 0.01249985 0.06933199
+v -0.07873211 0.01249985 0.07239990
+v -0.08153661 0.01249985 0.07035603
+v -0.07900006 0.01249985 0.07339990
+v -0.08172037 0.01249985 0.07154907
+v -0.07873211 0.01249985 0.07439990
+v -0.07800006 0.01249985 0.07513196
+v -0.04200007 0.01249985 0.07690000
+v -0.04600006 0.01249985 0.07513204
+v -0.04700006 0.01249985 0.07539999
+v -0.06764482 0.01249985 0.07689993
+v -0.04800006 0.01249985 0.07513203
+v -0.04873211 0.01249985 0.07439998
+v -0.04900006 0.01249985 0.07339998
+v -0.04873211 0.01249985 0.07239998
+v -0.06764480 0.01249985 0.06839993
+v -0.04800005 0.01249985 0.07166793
+v -0.04500005 0.01249985 0.06839999
+v -0.04700005 0.01249985 0.07139999
+v -0.04350005 0.01249985 0.06880192
+v -0.04600005 0.01249985 0.07166794
+v -0.04240197 0.01249985 0.06990000
+v -0.04526801 0.01249985 0.07239999
+v -0.04200005 0.01249985 0.07140000
+v -0.04500006 0.01249985 0.07339999
+v -0.04526801 0.01249985 0.07439999
+v -0.04200037 0.01249985 0.19076467
+v -0.04200035 0.01249985 0.18227511
+v -0.04380036 0.01249985 0.18759771
+v -0.04213044 0.01249985 0.19125785
+v -0.04248682 0.01249985 0.19162272
+v -0.04297679 0.01249985 0.19176439
+v -0.04840493 0.01249985 0.17824773
+v -0.04380032 0.01249985 0.17087714
+v -0.04380031 0.01249985 0.16861226
+v -0.04901067 0.01249985 0.17695247
+v -0.05217547 0.01249985 0.17706881
+v -0.04384608 0.01249985 0.19129831
+v -0.04347289 0.01249985 0.19164599
+v -0.04380029 0.01249985 0.15852624
+v -0.04200032 0.01249985 0.16982358
+v -0.04380035 0.01249985 0.18227510
+v -0.05586671 0.01249985 0.16097964
+v -0.05822425 0.01249985 0.15480336
+v -0.05953877 0.01249985 0.16231621
+v -0.04200028 0.01249985 0.15603514
+v -0.04380028 0.01249985 0.15647389
+v -0.05210902 0.01249985 0.17005436
+v -0.05266253 0.01249985 0.16877001
+v -0.06590329 0.01249985 0.14710601
+v -0.06764498 0.01249985 0.13565563
+v -0.06930629 0.01249985 0.13756189
+v -0.06764499 0.01249985 0.13933718
+v -0.06869128 0.01249985 0.13938165
+v -0.06775929 0.01249985 0.14205449
+v -0.06918308 0.01249985 0.11932058
+v -0.07368821 0.01249985 0.11932057
+v -0.07381819 0.01249985 0.12245085
+v -0.07446576 0.01249985 0.11932057
+v -0.07456463 0.01249985 0.11955466
+v -0.07552752 0.01249985 0.11558464
+v -0.07497662 0.01249985 0.11789086
+v -0.07461692 0.01249985 0.11934622
+v -0.05536124 0.01249985 0.16225177
+v -0.04380025 0.01249985 0.14637780
+v -0.04200026 0.01249985 0.14734351
+v -0.04380026 0.01249985 0.14826161
+v -0.04380028 0.01249985 0.15603514
+v -0.06075111 0.01249985 0.14767201
+v -0.05868554 0.01249985 0.15354401
+v -0.04380023 0.01249985 0.13777936
+v -0.04380023 0.01249985 0.13952727
+v -0.04380021 0.01249985 0.13194459
+v -0.04380022 0.01249985 0.13565569
+v -0.04200022 0.01249985 0.13565570
+v -0.04200023 0.01249985 0.13933725
+v -0.04380019 0.01249985 0.12343426
+v -0.06350467 0.01249985 0.13914717
+v -0.06286843 0.01249985 0.14119785
+v -0.04380020 0.01249985 0.12599231
+v -0.04380021 0.01249985 0.13030763
+v -0.06554913 0.01249985 0.13216411
+v -0.06682783 0.01249985 0.12743565
+v -0.04380018 0.01249985 0.11975729
+v -0.06497446 0.01249985 0.13419290
+v -0.04780001 0.01249985 0.13565568
+v -0.04956430 0.01249985 0.13565568
+v -0.05176794 0.01249985 0.13933722
+v -0.06117176 0.01249985 0.14642534
+v -0.06039700 0.01249985 0.14734346
+v -0.04380015 0.01249985 0.10900349
+v -0.04380016 0.01249985 0.11144766
+v -0.04200016 0.01249985 0.11144767
+v -0.04380016 0.01249985 0.11183192
+v -0.04200017 0.01249985 0.11331832
+v -0.04200015 0.01249985 0.10630851
+v -0.04380015 0.01249985 0.10678368
+v -0.04887575 0.01249985 0.11144765
+v -0.05348544 0.01249985 0.11144764
+v -0.05737005 0.01249985 0.11331828
+v -0.06846206 0.01249985 0.12087946
+v -0.06734595 0.01249985 0.12542540
+v -0.06892785 0.01249985 0.11888395
+v -0.06764493 0.01249985 0.11826615
+v -0.05276036 0.01249985 0.11331829
+v -0.04200014 0.01249985 0.10212188
+v -0.04380014 0.01249985 0.10423560
+v -0.04380015 0.01249985 0.10630850
+v -0.05455657 0.01249985 0.10630847
+v -0.06990409 0.01249985 0.11448015
+v -0.06918307 0.01249985 0.11419718
+v -0.06918307 0.01249985 0.11331825
+v -0.06764492 0.01249985 0.11359353
+v -0.06764492 0.01249985 0.11331825
+v -0.06694349 0.01249985 0.11331825
+v -0.06217695 0.01249985 0.11144761
+v -0.06918306 0.01249985 0.11204867
+v -0.07032101 0.01249985 0.11249526
+v -0.07368820 0.01249985 0.11331823
+v -0.04908204 0.01249985 0.10630849
+v -0.04388879 0.01249985 0.10212188
+v -0.04380014 0.01249985 0.10208709
+v -0.04380013 0.01249985 0.09975183
+v -0.04200012 0.01249985 0.09465551
+v -0.04380012 0.01249985 0.09548213
+v -0.04380012 0.01249985 0.09765885
+v -0.06505718 0.01249985 0.10630844
+v -0.06764490 0.01249985 0.10630844
+v -0.06764490 0.01249985 0.10710661
+v -0.06918305 0.01249985 0.10630843
+v -0.06918305 0.01249985 0.10758104
+v -0.07117529 0.01249985 0.10819554
+v -0.07368818 0.01249985 0.10630842
+v -0.07368819 0.01249985 0.11144758
+v -0.05148394 0.01249985 0.10212186
+v -0.05826948 0.01249985 0.10212184
+v -0.06764490 0.01249985 0.10501363
+v -0.06918305 0.01249985 0.10548807
+v -0.07154608 0.01249985 0.10621693
+v -0.04916651 0.01249985 0.09465549
+v -0.06764488 0.01249985 0.09887284
+v -0.06764489 0.01249985 0.10092427
+v -0.06918303 0.01249985 0.09922390
+v -0.07229223 0.01249985 0.10198494
+v -0.07368817 0.01249985 0.10212180
+v -0.07261897 0.01249985 0.10000809
+v -0.07326728 0.01249985 0.09580856
+v -0.07368815 0.01249985 0.09465542
+v -0.06918302 0.01249985 0.09465543
+v -0.04485276 0.01249985 0.08950341
+v -0.06764487 0.01249985 0.09293857
+v -0.06561645 0.01249985 0.09465544
+v -0.04200010 0.01249985 0.08950341
+v -0.04380011 0.01249985 0.09136734
+v -0.04380011 0.01249985 0.09343071
+v -0.06918302 0.01249985 0.09519299
+v -0.06764487 0.01249985 0.09496116
+v -0.06764487 0.01249985 0.09465544
+v -0.06918301 0.01249985 0.09317040
+v -0.07355140 0.01249985 0.09382879
+v -0.04380010 0.01249985 0.08934475
+v -0.04380010 0.01249985 0.08735567
+v -0.04200008 0.01249985 0.08240000
+v -0.04380009 0.01249985 0.08535007
+v -0.06764486 0.01249985 0.08914246
+v -0.06764485 0.01249985 0.08713686
+v -0.06918300 0.01249985 0.08725211
+v -0.06918300 0.01249985 0.08925772
+v -0.07368813 0.01249985 0.08758970
+v -0.07435130 0.01249985 0.08763940
+v -0.07446568 0.01249985 0.08950333
+v -0.06764484 0.01249985 0.08239993
+v -0.06918299 0.01249985 0.08239993
+v -0.07368811 0.01249985 0.08239992
+v -0.07446566 0.01249985 0.08239991
+v -0.07491121 0.01249985 0.08239991
+v -0.08052885 0.01249985 0.08642849
+v -0.06918298 0.01249985 0.08139993
+v -0.07368811 0.01249985 0.08139992
+v -0.07446566 0.01249985 0.08139991
+v -0.07491121 0.01249985 0.08139991
+v -0.07502298 0.01249985 0.08139991
+v -0.07529807 0.01249985 0.07839991
+v -0.07491120 0.01249985 0.07839991
+v -0.07446565 0.01249985 0.07689991
+v -0.07446565 0.01249985 0.07839991
+v -0.07368810 0.01249985 0.07689992
+v -0.07368810 0.01249985 0.07839992
+v -0.06918297 0.01249985 0.07689993
+v -0.06918298 0.01249985 0.07839993
+v -0.06764483 0.01249985 0.07839993
+v -0.04380007 0.01249985 0.07839999
+v -0.04380008 0.01249985 0.08140000
+v -0.06764484 0.01249985 0.08139993
+v -0.07410900 0.01249985 0.08962685
+v -0.07446570 0.01249985 0.09465542
+v -0.07446572 0.01249985 0.10212180
+v -0.07446573 0.01249985 0.10630842
+v -0.07446574 0.01249985 0.11144758
+v -0.07446575 0.01249985 0.11331823
+v -0.06918295 0.01249985 0.06839993
+v -0.07368808 0.01249985 0.06839992
+v -0.07446563 0.01249985 0.06839991
+f 1 2 3
+f 4 5 6
+f 7 6 8
+f 9 10 11
+f 10 3 11
+f 12 1 3
+f 13 6 14
+f 8 6 5
+f 4 6 13
+f 15 16 17
+f 18 19 13
+f 20 7 8
+f 21 6 7
+f 22 23 24
+f 25 26 27
+f 28 10 9
+f 2 29 3
+f 29 11 3
+f 30 16 15
+f 31 32 33
+f 34 35 36
+f 37 3 38
+f 6 39 40
+f 25 8 5
+f 41 42 16
+f 18 14 43
+f 22 24 44
+f 44 45 22
+f 46 22 45
+f 45 47 46
+f 20 8 48
+f 9 11 15
+f 36 10 49
+f 50 28 9
+f 10 36 35
+f 12 37 32
+f 37 12 3
+f 37 38 51
+f 37 52 32
+f 52 37 51
+f 10 35 53
+f 10 53 38
+f 10 38 3
+f 54 35 34
+f 55 56 57
+f 56 55 58
+f 57 54 34
+f 39 6 21
+f 59 18 43
+f 40 39 43
+f 14 40 43
+f 14 6 40
+f 60 25 5
+f 59 61 17
+f 42 60 5
+f 16 42 17
+f 62 22 46
+f 22 62 23
+f 1 46 63
+f 47 63 46
+f 25 64 8
+f 64 25 27
+f 64 48 8
+f 65 59 43
+f 66 36 49
+f 63 2 1
+f 33 32 67
+f 68 62 46
+f 32 69 12
+f 70 71 67
+f 53 35 54
+f 72 73 74
+f 75 76 77
+f 78 55 34
+f 55 79 58
+f 4 42 5
+f 50 15 17
+f 59 17 18
+f 7 20 77
+f 24 26 44
+f 27 26 24
+f 45 80 47
+f 41 16 81
+f 82 71 70
+f 62 83 23
+f 33 84 83
+f 49 28 61
+f 61 28 50
+f 61 50 17
+f 63 85 29
+f 85 30 15
+f 80 85 63
+f 85 80 30
+f 9 15 50
+f 85 15 11
+f 11 29 85
+f 83 62 68
+f 34 36 78
+f 70 67 86
+f 71 33 67
+f 58 76 72
+f 73 87 88
+f 72 74 56
+f 56 74 57
+f 34 55 57
+f 21 79 55
+f 21 7 79
+f 89 73 90
+f 39 21 55
+f 91 82 70
+f 84 23 83
+f 28 49 10
+f 92 80 93
+f 31 33 68
+f 68 33 83
+f 51 86 52
+f 69 32 31
+f 46 94 68
+f 94 31 68
+f 94 12 69
+f 76 75 72
+f 90 53 89
+f 86 51 88
+f 75 70 87
+f 87 70 88
+f 95 55 78
+f 39 55 95
+f 14 18 13
+f 42 41 60
+f 19 17 42
+f 19 4 13
+f 45 93 80
+f 92 93 81
+f 16 30 92
+f 92 81 16
+f 96 77 20
+f 66 59 65
+f 65 78 66
+f 59 66 61
+f 49 61 66
+f 2 63 29
+f 80 63 47
+f 80 92 30
+f 78 36 66
+f 94 69 31
+f 94 46 1
+f 12 94 1
+f 70 86 88
+f 67 52 86
+f 52 67 32
+f 57 89 54
+f 53 90 38
+f 90 51 38
+f 75 87 72
+f 72 87 73
+f 56 58 72
+f 42 4 19
+f 19 18 17
+f 97 81 44
+f 81 93 44
+f 41 97 60
+f 26 97 44
+f 98 99 91
+f 100 33 71
+f 84 33 100
+f 96 75 77
+f 95 78 65
+f 73 89 74
+f 53 54 89
+f 73 88 51
+f 90 73 51
+f 41 81 97
+f 44 93 45
+f 25 97 26
+f 101 48 64
+f 64 27 101
+f 102 48 101
+f 96 98 91
+f 48 99 20
+f 99 98 20
+f 98 96 20
+f 96 91 75
+f 84 101 23
+f 27 24 101
+f 89 57 74
+f 77 76 79
+f 79 76 58
+f 79 7 77
+f 102 84 100
+f 91 99 82
+f 48 100 99
+f 100 48 102
+f 75 91 70
+f 84 102 101
+f 24 23 101
+f 43 95 65
+f 25 60 97
+f 82 100 71
+f 43 39 95
+f 100 82 99
+f 103 104 105
+f 105 104 106
+f 105 106 107
+f 107 106 108
+f 107 108 109
+f 109 108 110
+f 109 110 111
+f 111 110 112
+f 111 112 113
+f 113 112 114
+f 115 116 117
+f 118 119 120
+f 121 122 123
+f 123 122 124
+f 125 126 127
+f 128 129 130
+f 130 129 131
+f 130 131 132
+f 132 131 133
+f 132 133 134
+f 134 133 135
+f 134 135 136
+f 136 135 137
+f 136 137 138
+f 138 137 139
+f 138 139 140
+f 140 141 142
+f 142 141 143
+f 143 144 142
+f 142 144 145
+f 142 145 128
+f 128 145 146
+f 128 146 129
+f 147 148 149
+f 150 151 152
+f 152 151 153
+f 149 148 154
+f 148 155 154
+f 154 155 156
+f 154 156 151
+f 151 156 157
+f 151 157 153
+f 149 158 147
+f 147 158 159
+f 147 159 160
+f 160 159 161
+f 160 161 162
+f 162 161 163
+f 162 163 164
+f 164 163 165
+f 164 165 166
+f 167 168 169
+f 169 168 170
+f 171 172 173
+f 173 172 174
+f 175 176 177
+f 177 176 178
+f 177 178 179
+f 179 180 177
+f 177 180 181
+f 177 181 173
+f 173 181 182
+f 173 182 183
+f 183 184 173
+f 173 184 185
+f 173 185 171
+f 184 186 185
+f 185 186 187
+f 185 187 188
+f 188 187 189
+f 188 189 190
+f 190 189 191
+f 190 191 176
+f 176 191 192
+f 176 192 178
+f 193 175 194
+f 194 175 195
+f 193 196 175
+f 175 196 197
+f 175 197 176
+f 198 199 200
+f 200 199 201
+f 201 199 202
+f 201 202 203
+f 204 205 206
+f 204 206 207
+f 208 209 210
+f 211 212 213
+f 213 212 207
+f 214 215 216
+f 216 215 217
+f 216 217 218
+f 219 212 220
+f 220 212 211
+f 220 211 209
+f 209 211 221
+f 209 221 210
+f 218 222 223
+f 210 215 208
+f 208 215 214
+f 208 214 219
+f 219 214 224
+f 219 224 212
+f 212 224 218
+f 212 218 225
+f 225 218 223
+f 226 222 227
+f 227 222 218
+f 227 218 228
+f 228 218 217
+f 221 229 210
+f 210 229 230
+f 210 230 231
+f 232 233 230
+f 230 233 231
+f 231 233 234
+f 231 234 235
+f 236 237 238
+f 230 213 232
+f 232 213 207
+f 232 207 239
+f 239 207 206
+f 239 206 234
+f 234 206 240
+f 234 240 235
+f 235 240 241
+f 235 241 242
+f 242 241 243
+f 242 243 244
+f 238 245 236
+f 236 245 244
+f 236 244 246
+f 246 244 243
+f 246 243 121
+f 121 243 247
+f 121 247 122
+f 248 249 250
+f 250 249 251
+f 250 251 202
+f 202 251 252
+f 202 252 203
+f 203 252 253
+f 251 238 252
+f 252 238 237
+f 252 237 253
+f 253 237 123
+f 253 123 204
+f 204 123 124
+f 204 124 205
+f 245 249 244
+f 244 249 248
+f 244 248 254
+f 254 248 255
+f 256 257 258
+f 259 260 255
+f 255 260 261
+f 255 261 254
+f 254 261 256
+f 254 256 262
+f 262 256 258
+f 263 264 198
+f 198 264 199
+f 199 264 260
+f 199 260 202
+f 202 260 259
+f 202 259 250
+f 265 266 267
+f 267 266 268
+f 267 268 269
+f 269 268 270
+f 271 272 273
+f 273 272 258
+f 273 258 274
+f 274 258 257
+f 274 257 270
+f 270 257 275
+f 270 275 269
+f 267 263 265
+f 265 263 198
+f 265 198 266
+f 266 198 276
+f 200 125 198
+f 198 125 127
+f 198 127 276
+f 276 127 277
+f 276 277 278
+f 278 277 279
+f 280 281 282
+f 282 281 120
+f 283 284 285
+f 286 287 288
+f 118 120 289
+f 289 120 281
+f 289 281 288
+f 288 281 280
+f 288 280 286
+f 282 290 280
+f 280 290 279
+f 280 279 286
+f 286 279 277
+f 286 277 291
+f 287 286 292
+f 292 286 291
+f 292 291 293
+f 293 291 294
+f 293 294 295
+f 119 118 271
+f 271 118 296
+f 271 296 272
+f 272 296 297
+f 272 297 285
+f 285 297 298
+f 285 298 283
+f 283 298 299
+f 283 299 300
+f 300 299 301
+f 300 301 302
+f 303 304 305
+f 305 304 302
+f 305 302 306
+f 306 302 301
+f 294 307 115
+f 115 303 294
+f 294 303 305
+f 294 305 295
+f 295 305 306
+f 295 306 308
+f 308 306 301
+f 116 115 309
+f 309 115 307
+f 309 307 310
+f 310 307 311
+f 310 311 312
+f 313 314 315
+f 315 314 285
+f 315 285 316
+f 316 285 284
+f 316 284 117
+f 117 284 317
+f 117 317 115
+f 318 319 320
+f 320 319 321
+f 320 321 322
+f 322 321 314
+f 322 314 323
+f 323 314 313
+f 323 313 324
+f 324 313 325
+f 325 326 324
+f 324 326 327
+f 324 327 328
+f 325 329 326
+f 326 329 312
+f 326 312 327
+f 327 312 311
+f 327 311 328
+f 328 311 330
+f 331 332 333
+f 333 332 334
+f 320 335 318
+f 318 335 336
+f 318 336 337
+f 337 336 338
+f 337 338 339
+f 339 338 340
+f 338 331 340
+f 340 331 333
+f 340 333 339
+f 339 333 341
+f 106 104 170
+f 170 104 342
+f 170 342 169
+f 169 342 343
+f 169 343 344
+f 344 343 174
+f 344 174 345
+f 345 174 172
+f 114 112 346
+f 346 112 110
+f 346 110 347
+f 347 110 108
+f 347 108 348
+f 348 108 106
+f 348 106 349
+f 349 106 170
+f 169 154 167
+f 167 154 151
+f 167 151 350
+f 350 151 351
+f 350 351 352
+f 352 351 353
+f 352 353 354
+f 354 353 355
+f 354 355 356
+f 356 355 142
+f 356 142 357
+f 357 142 358
+f 358 142 128
+f 358 128 359
+f 359 128 321
+f 359 321 360
+f 319 114 321
+f 321 114 346
+f 321 346 360
+f 360 346 347
+f 360 347 361
+f 361 347 348
+f 361 348 362
+f 362 348 349
+f 362 349 363
+f 363 349 170
+f 363 170 364
+f 364 170 168
+f 140 142 138
+f 138 142 355
+f 138 355 365
+f 365 355 353
+f 365 353 366
+f 366 353 351
+f 366 351 367
+f 367 351 151
+f 367 151 165
+f 165 151 150
+f 165 150 166
+f 104 341 342
+f 342 341 333
+f 342 333 343
+f 343 333 334
+f 343 334 174
+f 174 334 368
+f 174 368 173
+f 173 368 369
+f 173 369 177
+f 177 369 370
+f 177 370 175
+f 175 370 371
+f 175 371 195
+f 195 371 372
+f 195 372 373
+f 373 372 374
+f 332 330 334
+f 334 330 311
+f 334 311 368
+f 368 311 307
+f 368 307 369
+f 369 307 294
+f 369 294 370
+f 370 294 291
+f 370 291 371
+f 371 291 277
+f 371 277 372
+f 372 277 127
+f 372 127 374
+f 374 127 126
+f 375 376 377
+f 378 379 380
+f 381 382 383
+f 384 385 386
+f 387 388 389
+f 390 391 392
+f 393 394 395
+f 394 393 396
+f 396 393 397
+f 396 397 398
+f 399 400 401
+f 402 397 403
+f 403 397 401
+f 403 401 404
+f 404 401 400
+f 402 405 397
+f 397 405 406
+f 397 406 398
+f 398 406 407
+f 398 407 408
+f 408 407 409
+f 408 409 410
+f 410 409 411
+f 410 411 412
+f 412 411 413
+f 412 413 414
+f 415 416 401
+f 414 399 412
+f 412 399 401
+f 412 401 417
+f 417 401 416
+f 418 419 420
+f 420 419 415
+f 420 415 421
+f 421 415 401
+f 392 391 422
+f 422 391 423
+f 422 423 424
+f 425 426 427
+f 427 428 425
+f 425 428 429
+f 425 429 430
+f 392 431 390
+f 390 431 432
+f 390 432 433
+f 433 432 434
+f 433 434 435
+f 435 434 436
+f 435 436 437
+f 437 436 430
+f 437 430 438
+f 438 430 429
+f 439 440 441
+f 439 441 442
+f 442 441 443
+f 442 443 444
+f 445 446 447
+f 447 446 448
+f 447 448 449
+f 449 448 450
+f 449 450 451
+f 451 450 452
+f 451 452 453
+f 453 452 454
+f 453 454 455
+f 455 454 456
+f 455 456 439
+f 439 456 457
+f 439 457 440
+f 458 459 460
+f 461 458 462
+f 462 458 460
+f 462 460 463
+f 464 465 466
+f 466 467 464
+f 464 467 468
+f 464 468 460
+f 460 468 469
+f 460 469 463
+f 463 469 470
+f 471 466 472
+f 472 466 465
+f 472 465 459
+f 459 465 473
+f 459 473 460
+f 474 475 476
+f 472 477 471
+f 471 477 478
+f 471 478 479
+f 479 478 480
+f 476 475 481
+f 482 483 484
+f 484 483 485
+f 484 485 486
+f 487 488 489
+f 489 488 490
+f 489 490 491
+f 395 492 393
+f 393 492 493
+f 393 493 490
+f 490 493 494
+f 490 494 491
+f 467 479 468
+f 468 479 480
+f 468 480 476
+f 476 480 495
+f 476 495 474
+f 474 495 496
+f 497 498 477
+f 477 498 499
+f 477 499 478
+f 500 481 501
+f 501 481 475
+f 501 475 502
+f 502 475 503
+f 504 505 506
+f 506 505 502
+f 506 502 507
+f 507 502 503
+f 507 503 497
+f 497 503 496
+f 497 496 498
+f 498 496 495
+f 508 509 510
+f 386 511 512
+f 482 513 514
+f 510 511 508
+f 508 511 386
+f 508 386 515
+f 515 386 385
+f 515 385 516
+f 506 386 504
+f 504 386 512
+f 504 512 517
+f 517 512 518
+f 517 518 519
+f 519 518 520
+f 519 520 521
+f 385 513 516
+f 516 513 482
+f 516 482 509
+f 509 482 484
+f 509 484 510
+f 510 484 486
+f 510 486 520
+f 520 486 481
+f 520 481 521
+f 521 481 500
+f 522 523 524
+f 524 523 525
+f 524 525 526
+f 524 527 522
+f 522 527 528
+f 522 528 529
+f 529 528 530
+f 529 530 531
+f 489 387 487
+f 487 387 389
+f 487 389 532
+f 532 389 533
+f 386 526 384
+f 384 526 525
+f 384 525 514
+f 514 525 533
+f 514 533 482
+f 482 533 389
+f 482 389 483
+f 483 389 388
+f 534 382 535
+f 535 382 381
+f 535 381 531
+f 531 381 536
+f 531 536 529
+f 537 538 527
+f 527 538 539
+f 527 539 528
+f 380 379 540
+f 541 542 543
+f 543 542 544
+f 543 544 545
+f 545 544 546
+f 545 546 547
+f 548 549 543
+f 543 549 550
+f 543 550 541
+f 541 550 534
+f 548 543 378
+f 378 543 545
+f 378 545 379
+f 379 545 547
+f 379 547 540
+f 540 547 551
+f 540 551 552
+f 551 538 552
+f 552 538 537
+f 552 537 553
+f 553 537 554
+f 555 556 557
+f 558 559 560
+f 560 559 561
+f 560 561 562
+f 563 564 549
+f 549 564 565
+f 549 565 550
+f 537 555 554
+f 554 555 557
+f 554 557 566
+f 566 557 567
+f 566 567 558
+f 558 567 568
+f 558 568 559
+f 559 568 569
+f 559 569 561
+f 561 569 570
+f 571 572 573
+f 573 572 574
+f 573 574 575
+f 575 574 576
+f 575 576 570
+f 570 576 564
+f 570 564 561
+f 561 564 563
+f 561 563 562
+f 574 577 576
+f 576 577 578
+f 576 578 579
+f 579 578 580
+f 581 582 583
+f 555 584 585
+f 573 556 571
+f 571 556 555
+f 571 555 586
+f 586 555 585
+f 578 587 580
+f 580 587 588
+f 580 588 589
+f 589 588 583
+f 583 582 589
+f 589 582 590
+f 589 590 580
+f 580 590 591
+f 580 591 579
+f 583 585 581
+f 581 585 584
+f 581 584 592
+f 592 584 593
+f 594 113 595
+f 584 594 593
+f 593 594 595
+f 593 595 596
+f 595 597 596
+f 596 597 598
+f 596 598 599
+f 599 598 375
+f 375 598 600
+f 375 600 376
+f 376 600 601
+f 376 601 602
+f 601 103 418
+f 113 594 111
+f 111 594 603
+f 111 603 109
+f 109 603 604
+f 109 604 107
+f 107 604 605
+f 107 605 105
+f 105 605 606
+f 105 606 103
+f 103 606 607
+f 103 607 418
+f 418 607 608
+f 418 608 419
+f 604 609 605
+f 605 609 610
+f 605 610 606
+f 606 610 611
+f 606 611 607
+f 607 611 612
+f 607 612 608
+f 608 612 613
+f 608 613 430
+f 430 613 614
+f 430 614 425
+f 425 614 615
+f 425 615 616
+f 616 615 617
+f 616 617 618
+f 618 617 619
+f 618 619 620
+f 620 619 621
+f 620 621 442
+f 442 621 622
+f 442 622 439
+f 439 622 623
+f 439 623 594
+f 594 623 624
+f 594 624 603
+f 603 624 625
+f 603 625 604
+f 604 625 609
+f 377 376 626
+f 626 376 602
+f 626 602 591
+f 591 602 627
+f 591 627 579
+f 579 627 628
+f 579 628 576
+f 576 628 629
+f 576 629 564
+f 564 629 630
+f 564 630 565
+f 565 630 631
+f 565 631 550
+f 601 418 602
+f 602 418 420
+f 602 420 627
+f 627 420 421
+f 627 421 628
+f 628 421 401
+f 628 401 629
+f 629 401 397
+f 629 397 630
+f 630 397 393
+f 630 393 631
+f 631 393 490
+f 631 490 550
+f 550 490 488
+f 550 488 534
+f 534 488 487
+f 534 487 382
+f 382 487 532
+f 382 532 383
+f 444 445 442
+f 442 445 447
+f 442 447 620
+f 620 447 632
+f 620 632 618
+f 618 632 633
+f 618 633 616
+f 616 633 634
+f 616 634 425
+f 425 634 422
+f 425 422 426
+f 426 422 424
+f 168 613 364
+f 364 613 612
+f 364 612 363
+f 363 612 611
+f 363 611 362
+f 362 611 610
+f 362 610 361
+f 361 610 609
+f 361 609 360
+f 360 609 625
+f 360 625 359
+f 359 625 624
+f 167 614 168
+f 168 614 613
+f 104 103 341
+f 341 103 601
+f 114 319 113
+f 113 319 595
+f 320 593 335
+f 335 593 596
+f 335 596 336
+f 336 596 599
+f 336 599 338
+f 338 599 375
+f 338 375 331
+f 331 375 377
+f 331 377 332
+f 332 377 626
+f 341 601 339
+f 339 601 600
+f 339 600 337
+f 337 600 598
+f 337 598 318
+f 318 598 597
+f 318 597 319
+f 319 597 595
+f 332 626 330
+f 330 626 591
+f 320 322 593
+f 593 322 592
+f 313 585 325
+f 325 585 583
+f 325 583 329
+f 329 583 588
+f 329 588 312
+f 312 588 587
+f 312 587 310
+f 310 587 578
+f 330 591 328
+f 328 591 590
+f 328 590 324
+f 324 590 582
+f 324 582 323
+f 323 582 581
+f 323 581 322
+f 322 581 592
+f 310 578 309
+f 309 578 577
+f 313 315 585
+f 585 315 586
+f 284 556 317
+f 317 556 573
+f 317 573 115
+f 115 573 575
+f 309 577 116
+f 116 577 574
+f 116 574 117
+f 117 574 572
+f 117 572 316
+f 316 572 571
+f 316 571 315
+f 315 571 586
+f 115 575 303
+f 303 575 570
+f 284 283 556
+f 556 283 557
+f 563 293 562
+f 562 293 295
+f 562 295 560
+f 560 295 308
+f 560 308 558
+f 558 308 301
+f 558 301 566
+f 566 301 299
+f 566 299 554
+f 554 299 298
+f 303 570 304
+f 304 570 569
+f 304 569 302
+f 302 569 568
+f 302 568 300
+f 300 568 567
+f 300 567 283
+f 283 567 557
+f 293 563 292
+f 292 563 549
+f 298 297 554
+f 554 297 553
+f 271 538 119
+f 119 538 551
+f 119 551 120
+f 120 551 547
+f 120 547 282
+f 282 547 546
+f 282 546 290
+f 290 546 544
+f 290 544 279
+f 279 544 542
+f 279 542 278
+f 278 542 541
+f 292 549 287
+f 287 549 548
+f 287 548 288
+f 288 548 378
+f 288 378 289
+f 289 378 380
+f 289 380 118
+f 118 380 540
+f 118 540 296
+f 296 540 552
+f 296 552 297
+f 297 552 553
+f 278 541 276
+f 276 541 534
+f 538 271 539
+f 539 271 273
+f 539 273 528
+f 528 273 274
+f 532 264 383
+f 383 264 263
+f 383 263 381
+f 381 263 267
+f 381 267 536
+f 536 267 269
+f 536 269 529
+f 529 269 275
+f 529 275 522
+f 522 275 257
+f 276 534 266
+f 266 534 535
+f 266 535 268
+f 268 535 531
+f 268 531 270
+f 270 531 530
+f 270 530 274
+f 274 530 528
+f 264 532 260
+f 260 532 533
+f 522 257 523
+f 523 257 256
+f 523 256 525
+f 525 256 261
+f 514 259 384
+f 384 259 255
+f 260 533 261
+f 261 533 525
+f 259 514 250
+f 250 514 513
+f 255 248 384
+f 384 248 385
+f 516 251 515
+f 515 251 249
+f 250 513 248
+f 248 513 385
+f 251 516 238
+f 238 516 509
+f 249 245 515
+f 515 245 508
+f 510 237 511
+f 511 237 236
+f 238 509 245
+f 245 509 508
+f 237 510 123
+f 123 510 520
+f 236 246 511
+f 511 246 512
+f 500 205 521
+f 521 205 124
+f 521 124 519
+f 519 124 122
+f 519 122 517
+f 517 122 247
+f 517 247 504
+f 504 247 243
+f 512 246 518
+f 518 246 121
+f 518 121 520
+f 520 121 123
+f 205 500 206
+f 206 500 501
+f 504 243 505
+f 505 243 241
+f 505 241 502
+f 502 241 240
+f 475 239 503
+f 503 239 234
+f 206 501 240
+f 240 501 502
+f 239 475 232
+f 232 475 474
+f 234 233 503
+f 503 233 496
+f 495 213 498
+f 498 213 230
+f 232 474 233
+f 233 474 496
+f 213 495 211
+f 211 495 480
+f 498 230 499
+f 499 230 229
+f 499 229 478
+f 478 229 221
+f 479 220 471
+f 471 220 209
+f 211 480 221
+f 221 480 478
+f 220 479 219
+f 219 479 467
+f 209 208 471
+f 471 208 466
+f 464 224 465
+f 465 224 214
+f 219 467 208
+f 208 467 466
+f 224 464 218
+f 218 464 460
+f 465 214 473
+f 473 214 216
+f 473 216 460
+f 460 216 218
+f 163 392 165
+f 165 392 422
+f 165 422 367
+f 367 422 634
+f 367 634 366
+f 366 634 633
+f 366 633 365
+f 365 633 632
+f 365 632 138
+f 138 632 447
+f 138 447 136
+f 136 447 449
+f 458 228 459
+f 459 228 217
+f 459 217 472
+f 472 217 215
+f 472 215 477
+f 477 215 210
+f 477 210 497
+f 497 210 231
+f 497 231 507
+f 507 231 235
+f 507 235 506
+f 506 235 242
+f 506 242 386
+f 386 242 244
+f 386 244 526
+f 526 244 254
+f 526 254 524
+f 524 254 262
+f 524 262 527
+f 527 262 258
+f 527 258 537
+f 537 258 272
+f 537 272 555
+f 555 272 285
+f 555 285 584
+f 584 285 314
+f 584 314 594
+f 594 314 321
+f 594 321 439
+f 439 321 128
+f 439 128 455
+f 455 128 130
+f 481 207 476
+f 476 207 212
+f 476 212 468
+f 468 212 225
+f 468 225 469
+f 492 194 493
+f 493 194 195
+f 493 195 494
+f 494 195 373
+f 494 373 491
+f 491 373 374
+f 491 374 489
+f 489 374 126
+f 489 126 387
+f 387 126 125
+f 387 125 388
+f 388 125 200
+f 388 200 483
+f 483 200 201
+f 483 201 485
+f 485 201 203
+f 485 203 486
+f 486 203 253
+f 486 253 481
+f 481 253 204
+f 481 204 207
+f 197 396 398
+f 197 398 176
+f 176 398 408
+f 176 408 190
+f 190 408 410
+f 190 410 188
+f 188 410 412
+f 188 412 185
+f 185 412 417
+f 185 417 171
+f 624 623 359
+f 359 623 358
+f 614 167 615
+f 615 167 350
+f 615 350 617
+f 617 350 352
+f 617 352 619
+f 619 352 354
+f 619 354 621
+f 621 354 356
+f 621 356 622
+f 622 356 357
+f 622 357 623
+f 623 357 358
+f 344 419 608
+f 436 149 430
+f 430 149 154
+f 430 154 608
+f 608 154 169
+f 608 169 344
+f 396 197 394
+f 394 197 196
+f 394 196 395
+f 395 196 193
+f 395 193 492
+f 492 193 194
+f 419 344 415
+f 415 344 345
+f 415 345 416
+f 416 345 172
+f 416 172 417
+f 417 172 171
+f 149 436 434
+f 149 434 158
+f 158 434 432
+f 158 432 159
+f 159 432 431
+f 159 431 161
+f 161 431 392
+f 161 392 163
+f 455 130 132
+f 455 132 453
+f 453 132 134
+f 453 134 451
+f 451 134 136
+f 451 136 449
+f 228 458 461
+f 228 461 227
+f 227 461 462
+f 227 462 226
+f 226 462 463
+f 226 463 222
+f 222 463 470
+f 222 470 223
+f 223 470 469
+f 223 469 225
+f 429 157 438
+f 438 157 156
+f 438 156 437
+f 437 156 155
+f 437 155 435
+f 435 155 148
+f 435 148 433
+f 433 148 147
+f 433 147 390
+f 390 147 160
+f 390 160 391
+f 391 160 162
+f 391 162 423
+f 423 162 164
+f 423 164 424
+f 424 164 166
+f 424 166 426
+f 426 166 150
+f 426 150 427
+f 427 150 152
+f 427 152 428
+f 428 152 153
+f 428 153 429
+f 429 153 157
+f 441 145 443
+f 443 145 144
+f 443 144 444
+f 444 144 143
+f 444 143 445
+f 445 143 141
+f 445 141 446
+f 446 141 140
+f 446 140 448
+f 448 140 139
+f 448 139 450
+f 450 139 137
+f 450 137 452
+f 452 137 135
+f 452 135 454
+f 454 135 133
+f 454 133 456
+f 456 133 131
+f 456 131 457
+f 457 131 129
+f 457 129 440
+f 440 129 146
+f 440 146 441
+f 441 146 145
+f 406 178 407
+f 407 178 192
+f 407 192 409
+f 409 192 191
+f 409 191 411
+f 411 191 189
+f 411 189 413
+f 413 189 187
+f 413 187 414
+f 414 187 186
+f 414 186 399
+f 399 186 184
+f 399 184 400
+f 400 184 183
+f 400 183 404
+f 404 183 182
+f 404 182 403
+f 403 182 181
+f 403 181 402
+f 402 181 180
+f 402 180 405
+f 405 180 179
+f 405 179 406
+f 406 179 178
+f 635 636 637
+f 637 636 638
+f 637 638 639
+f 639 638 640
+f 639 640 641
+f 641 640 642
+f 641 642 643
+f 643 642 644
+f 643 644 645
+f 645 644 646
+f 647 648 649
+f 650 651 652
+f 653 654 655
+f 655 654 656
+f 657 658 659
+f 660 661 662
+f 662 661 663
+f 662 663 664
+f 664 663 665
+f 664 665 666
+f 666 665 667
+f 666 667 668
+f 668 667 669
+f 668 669 670
+f 670 669 671
+f 670 671 672
+f 672 673 674
+f 674 673 675
+f 675 676 674
+f 674 676 677
+f 674 677 660
+f 660 677 678
+f 660 678 661
+f 679 680 681
+f 682 683 684
+f 684 683 685
+f 681 680 686
+f 680 687 686
+f 686 687 688
+f 686 688 683
+f 683 688 689
+f 683 689 685
+f 681 690 679
+f 679 690 691
+f 679 691 692
+f 692 691 693
+f 692 693 694
+f 694 693 695
+f 694 695 696
+f 696 695 697
+f 696 697 698
+f 699 700 701
+f 701 700 702
+f 703 704 705
+f 705 704 706
+f 707 708 709
+f 709 708 710
+f 709 710 711
+f 711 712 709
+f 709 712 713
+f 709 713 705
+f 705 713 714
+f 705 714 715
+f 715 716 705
+f 705 716 717
+f 705 717 703
+f 716 718 717
+f 717 718 719
+f 717 719 720
+f 720 719 721
+f 720 721 722
+f 722 721 723
+f 722 723 708
+f 708 723 724
+f 708 724 710
+f 725 707 726
+f 726 707 727
+f 725 728 707
+f 707 728 729
+f 707 729 708
+f 730 731 732
+f 732 731 733
+f 733 731 734
+f 733 734 735
+f 736 737 738
+f 736 738 739
+f 740 741 742
+f 743 744 745
+f 745 744 739
+f 746 747 748
+f 748 747 749
+f 748 749 750
+f 751 744 752
+f 752 744 743
+f 752 743 741
+f 741 743 753
+f 741 753 742
+f 750 754 755
+f 742 747 740
+f 740 747 746
+f 740 746 751
+f 751 746 756
+f 751 756 744
+f 744 756 750
+f 744 750 757
+f 757 750 755
+f 758 754 759
+f 759 754 750
+f 759 750 760
+f 760 750 749
+f 753 761 742
+f 742 761 762
+f 742 762 763
+f 764 765 762
+f 762 765 763
+f 763 765 766
+f 763 766 767
+f 768 769 770
+f 762 745 764
+f 764 745 739
+f 764 739 771
+f 771 739 738
+f 771 738 766
+f 766 738 772
+f 766 772 767
+f 767 772 773
+f 767 773 774
+f 774 773 775
+f 774 775 776
+f 770 777 768
+f 768 777 776
+f 768 776 778
+f 778 776 775
+f 778 775 653
+f 653 775 779
+f 653 779 654
+f 780 781 782
+f 782 781 783
+f 782 783 734
+f 734 783 784
+f 734 784 735
+f 735 784 785
+f 783 770 784
+f 784 770 769
+f 784 769 785
+f 785 769 655
+f 785 655 736
+f 736 655 656
+f 736 656 737
+f 777 781 776
+f 776 781 780
+f 776 780 786
+f 786 780 787
+f 788 789 790
+f 791 792 787
+f 787 792 793
+f 787 793 786
+f 786 793 788
+f 786 788 794
+f 794 788 790
+f 795 796 730
+f 730 796 731
+f 731 796 792
+f 731 792 734
+f 734 792 791
+f 734 791 782
+f 797 798 799
+f 799 798 800
+f 799 800 801
+f 801 800 802
+f 803 804 805
+f 805 804 790
+f 805 790 806
+f 806 790 789
+f 806 789 802
+f 802 789 807
+f 802 807 801
+f 799 795 797
+f 797 795 730
+f 797 730 798
+f 798 730 808
+f 732 657 730
+f 730 657 659
+f 730 659 808
+f 808 659 809
+f 808 809 810
+f 810 809 811
+f 812 813 814
+f 814 813 652
+f 815 816 817
+f 818 819 820
+f 650 652 821
+f 821 652 813
+f 821 813 820
+f 820 813 812
+f 820 812 818
+f 814 822 812
+f 812 822 811
+f 812 811 818
+f 818 811 809
+f 818 809 823
+f 819 818 824
+f 824 818 823
+f 824 823 825
+f 825 823 826
+f 825 826 827
+f 651 650 803
+f 803 650 828
+f 803 828 804
+f 804 828 829
+f 804 829 817
+f 817 829 830
+f 817 830 815
+f 815 830 831
+f 815 831 832
+f 832 831 833
+f 832 833 834
+f 835 836 837
+f 837 836 834
+f 837 834 838
+f 838 834 833
+f 826 839 647
+f 647 835 826
+f 826 835 837
+f 826 837 827
+f 827 837 838
+f 827 838 840
+f 840 838 833
+f 648 647 841
+f 841 647 839
+f 841 839 842
+f 842 839 843
+f 842 843 844
+f 845 846 847
+f 847 846 817
+f 847 817 848
+f 848 817 816
+f 848 816 649
+f 649 816 849
+f 649 849 647
+f 850 851 852
+f 852 851 853
+f 852 853 854
+f 854 853 846
+f 854 846 855
+f 855 846 845
+f 855 845 856
+f 856 845 857
+f 857 858 856
+f 856 858 859
+f 856 859 860
+f 857 861 858
+f 858 861 844
+f 858 844 859
+f 859 844 843
+f 859 843 860
+f 860 843 862
+f 863 864 865
+f 865 864 866
+f 852 867 850
+f 850 867 868
+f 850 868 869
+f 869 868 870
+f 869 870 871
+f 871 870 872
+f 870 863 872
+f 872 863 865
+f 872 865 871
+f 871 865 873
+f 638 636 702
+f 702 636 874
+f 702 874 701
+f 701 874 875
+f 701 875 876
+f 876 875 706
+f 876 706 877
+f 877 706 704
+f 646 644 878
+f 878 644 642
+f 878 642 879
+f 879 642 640
+f 879 640 880
+f 880 640 638
+f 880 638 881
+f 881 638 702
+f 701 686 699
+f 699 686 683
+f 699 683 882
+f 882 683 883
+f 882 883 884
+f 884 883 885
+f 884 885 886
+f 886 885 887
+f 886 887 888
+f 888 887 674
+f 888 674 889
+f 889 674 890
+f 890 674 660
+f 890 660 891
+f 891 660 853
+f 891 853 892
+f 851 646 853
+f 853 646 878
+f 853 878 892
+f 892 878 879
+f 892 879 893
+f 893 879 880
+f 893 880 894
+f 894 880 881
+f 894 881 895
+f 895 881 702
+f 895 702 896
+f 896 702 700
+f 672 674 670
+f 670 674 887
+f 670 887 897
+f 897 887 885
+f 897 885 898
+f 898 885 883
+f 898 883 899
+f 899 883 683
+f 899 683 697
+f 697 683 682
+f 697 682 698
+f 636 873 874
+f 874 873 865
+f 874 865 875
+f 875 865 866
+f 875 866 706
+f 706 866 900
+f 706 900 705
+f 705 900 901
+f 705 901 709
+f 709 901 902
+f 709 902 707
+f 707 902 903
+f 707 903 727
+f 727 903 904
+f 727 904 905
+f 905 904 906
+f 864 862 866
+f 866 862 843
+f 866 843 900
+f 900 843 839
+f 900 839 901
+f 901 839 826
+f 901 826 902
+f 902 826 823
+f 902 823 903
+f 903 823 809
+f 903 809 904
+f 904 809 659
+f 904 659 906
+f 906 659 658
+f 907 908 909
+f 910 911 912
+f 913 914 915
+f 916 917 918
+f 919 920 921
+f 922 923 924
+f 925 926 927
+f 926 925 928
+f 928 925 929
+f 928 929 930
+f 931 932 933
+f 934 929 935
+f 935 929 933
+f 935 933 936
+f 936 933 932
+f 934 937 929
+f 929 937 938
+f 929 938 930
+f 930 938 939
+f 930 939 940
+f 940 939 941
+f 940 941 942
+f 942 941 943
+f 942 943 944
+f 944 943 945
+f 944 945 946
+f 947 948 933
+f 946 931 944
+f 944 931 933
+f 944 933 949
+f 949 933 948
+f 950 951 952
+f 952 951 947
+f 952 947 953
+f 953 947 933
+f 924 923 954
+f 954 923 955
+f 954 955 956
+f 957 958 959
+f 959 960 957
+f 957 960 961
+f 957 961 962
+f 924 963 922
+f 922 963 964
+f 922 964 965
+f 965 964 966
+f 965 966 967
+f 967 966 968
+f 967 968 969
+f 969 968 962
+f 969 962 970
+f 970 962 961
+f 971 972 973
+f 971 973 974
+f 974 973 975
+f 974 975 976
+f 977 978 979
+f 979 978 980
+f 979 980 981
+f 981 980 982
+f 981 982 983
+f 983 982 984
+f 983 984 985
+f 985 984 986
+f 985 986 987
+f 987 986 988
+f 987 988 971
+f 971 988 989
+f 971 989 972
+f 990 991 992
+f 993 990 994
+f 994 990 992
+f 994 992 995
+f 996 997 998
+f 998 999 996
+f 996 999 1000
+f 996 1000 992
+f 992 1000 1001
+f 992 1001 995
+f 995 1001 1002
+f 1003 998 1004
+f 1004 998 997
+f 1004 997 991
+f 991 997 1005
+f 991 1005 992
+f 1006 1007 1008
+f 1004 1009 1003
+f 1003 1009 1010
+f 1003 1010 1011
+f 1011 1010 1012
+f 1008 1007 1013
+f 1014 1015 1016
+f 1016 1015 1017
+f 1016 1017 1018
+f 1019 1020 1021
+f 1021 1020 1022
+f 1021 1022 1023
+f 927 1024 925
+f 925 1024 1025
+f 925 1025 1022
+f 1022 1025 1026
+f 1022 1026 1023
+f 999 1011 1000
+f 1000 1011 1012
+f 1000 1012 1008
+f 1008 1012 1027
+f 1008 1027 1006
+f 1006 1027 1028
+f 1029 1030 1009
+f 1009 1030 1031
+f 1009 1031 1010
+f 1032 1013 1033
+f 1033 1013 1007
+f 1033 1007 1034
+f 1034 1007 1035
+f 1036 1037 1038
+f 1038 1037 1034
+f 1038 1034 1039
+f 1039 1034 1035
+f 1039 1035 1029
+f 1029 1035 1028
+f 1029 1028 1030
+f 1030 1028 1027
+f 1040 1041 1042
+f 918 1043 1044
+f 1014 1045 1046
+f 1042 1043 1040
+f 1040 1043 918
+f 1040 918 1047
+f 1047 918 917
+f 1047 917 1048
+f 1038 918 1036
+f 1036 918 1044
+f 1036 1044 1049
+f 1049 1044 1050
+f 1049 1050 1051
+f 1051 1050 1052
+f 1051 1052 1053
+f 917 1045 1048
+f 1048 1045 1014
+f 1048 1014 1041
+f 1041 1014 1016
+f 1041 1016 1042
+f 1042 1016 1018
+f 1042 1018 1052
+f 1052 1018 1013
+f 1052 1013 1053
+f 1053 1013 1032
+f 1054 1055 1056
+f 1056 1055 1057
+f 1056 1057 1058
+f 1056 1059 1054
+f 1054 1059 1060
+f 1054 1060 1061
+f 1061 1060 1062
+f 1061 1062 1063
+f 1021 919 1019
+f 1019 919 921
+f 1019 921 1064
+f 1064 921 1065
+f 918 1058 916
+f 916 1058 1057
+f 916 1057 1046
+f 1046 1057 1065
+f 1046 1065 1014
+f 1014 1065 921
+f 1014 921 1015
+f 1015 921 920
+f 1066 914 1067
+f 1067 914 913
+f 1067 913 1063
+f 1063 913 1068
+f 1063 1068 1061
+f 1069 1070 1059
+f 1059 1070 1071
+f 1059 1071 1060
+f 912 911 1072
+f 1073 1074 1075
+f 1075 1074 1076
+f 1075 1076 1077
+f 1077 1076 1078
+f 1077 1078 1079
+f 1080 1081 1075
+f 1075 1081 1082
+f 1075 1082 1073
+f 1073 1082 1066
+f 1080 1075 910
+f 910 1075 1077
+f 910 1077 911
+f 911 1077 1079
+f 911 1079 1072
+f 1072 1079 1083
+f 1072 1083 1084
+f 1083 1070 1084
+f 1084 1070 1069
+f 1084 1069 1085
+f 1085 1069 1086
+f 1087 1088 1089
+f 1090 1091 1092
+f 1092 1091 1093
+f 1092 1093 1094
+f 1095 1096 1081
+f 1081 1096 1097
+f 1081 1097 1082
+f 1069 1087 1086
+f 1086 1087 1089
+f 1086 1089 1098
+f 1098 1089 1099
+f 1098 1099 1090
+f 1090 1099 1100
+f 1090 1100 1091
+f 1091 1100 1101
+f 1091 1101 1093
+f 1093 1101 1102
+f 1103 1104 1105
+f 1105 1104 1106
+f 1105 1106 1107
+f 1107 1106 1108
+f 1107 1108 1102
+f 1102 1108 1096
+f 1102 1096 1093
+f 1093 1096 1095
+f 1093 1095 1094
+f 1106 1109 1108
+f 1108 1109 1110
+f 1108 1110 1111
+f 1111 1110 1112
+f 1113 1114 1115
+f 1087 1116 1117
+f 1105 1088 1103
+f 1103 1088 1087
+f 1103 1087 1118
+f 1118 1087 1117
+f 1110 1119 1112
+f 1112 1119 1120
+f 1112 1120 1121
+f 1121 1120 1115
+f 1115 1114 1121
+f 1121 1114 1122
+f 1121 1122 1112
+f 1112 1122 1123
+f 1112 1123 1111
+f 1115 1117 1113
+f 1113 1117 1116
+f 1113 1116 1124
+f 1124 1116 1125
+f 1126 645 1127
+f 1116 1126 1125
+f 1125 1126 1127
+f 1125 1127 1128
+f 1127 1129 1128
+f 1128 1129 1130
+f 1128 1130 1131
+f 1131 1130 907
+f 907 1130 1132
+f 907 1132 908
+f 908 1132 1133
+f 908 1133 1134
+f 1133 635 950
+f 645 1126 643
+f 643 1126 1135
+f 643 1135 641
+f 641 1135 1136
+f 641 1136 639
+f 639 1136 1137
+f 639 1137 637
+f 637 1137 1138
+f 637 1138 635
+f 635 1138 1139
+f 635 1139 950
+f 950 1139 1140
+f 950 1140 951
+f 1136 1141 1137
+f 1137 1141 1142
+f 1137 1142 1138
+f 1138 1142 1143
+f 1138 1143 1139
+f 1139 1143 1144
+f 1139 1144 1140
+f 1140 1144 1145
+f 1140 1145 962
+f 962 1145 1146
+f 962 1146 957
+f 957 1146 1147
+f 957 1147 1148
+f 1148 1147 1149
+f 1148 1149 1150
+f 1150 1149 1151
+f 1150 1151 1152
+f 1152 1151 1153
+f 1152 1153 974
+f 974 1153 1154
+f 974 1154 971
+f 971 1154 1155
+f 971 1155 1126
+f 1126 1155 1156
+f 1126 1156 1135
+f 1135 1156 1157
+f 1135 1157 1136
+f 1136 1157 1141
+f 909 908 1158
+f 1158 908 1134
+f 1158 1134 1123
+f 1123 1134 1159
+f 1123 1159 1111
+f 1111 1159 1160
+f 1111 1160 1108
+f 1108 1160 1161
+f 1108 1161 1096
+f 1096 1161 1162
+f 1096 1162 1097
+f 1097 1162 1163
+f 1097 1163 1082
+f 1133 950 1134
+f 1134 950 952
+f 1134 952 1159
+f 1159 952 953
+f 1159 953 1160
+f 1160 953 933
+f 1160 933 1161
+f 1161 933 929
+f 1161 929 1162
+f 1162 929 925
+f 1162 925 1163
+f 1163 925 1022
+f 1163 1022 1082
+f 1082 1022 1020
+f 1082 1020 1066
+f 1066 1020 1019
+f 1066 1019 914
+f 914 1019 1064
+f 914 1064 915
+f 976 977 974
+f 974 977 979
+f 974 979 1152
+f 1152 979 1164
+f 1152 1164 1150
+f 1150 1164 1165
+f 1150 1165 1148
+f 1148 1165 1166
+f 1148 1166 957
+f 957 1166 954
+f 957 954 958
+f 958 954 956
+f 700 1145 896
+f 896 1145 1144
+f 896 1144 895
+f 895 1144 1143
+f 895 1143 894
+f 894 1143 1142
+f 894 1142 893
+f 893 1142 1141
+f 893 1141 892
+f 892 1141 1157
+f 892 1157 891
+f 891 1157 1156
+f 699 1146 700
+f 700 1146 1145
+f 636 635 873
+f 873 635 1133
+f 646 851 645
+f 645 851 1127
+f 852 1125 867
+f 867 1125 1128
+f 867 1128 868
+f 868 1128 1131
+f 868 1131 870
+f 870 1131 907
+f 870 907 863
+f 863 907 909
+f 863 909 864
+f 864 909 1158
+f 873 1133 871
+f 871 1133 1132
+f 871 1132 869
+f 869 1132 1130
+f 869 1130 850
+f 850 1130 1129
+f 850 1129 851
+f 851 1129 1127
+f 864 1158 862
+f 862 1158 1123
+f 852 854 1125
+f 1125 854 1124
+f 845 1117 857
+f 857 1117 1115
+f 857 1115 861
+f 861 1115 1120
+f 861 1120 844
+f 844 1120 1119
+f 844 1119 842
+f 842 1119 1110
+f 862 1123 860
+f 860 1123 1122
+f 860 1122 856
+f 856 1122 1114
+f 856 1114 855
+f 855 1114 1113
+f 855 1113 854
+f 854 1113 1124
+f 842 1110 841
+f 841 1110 1109
+f 845 847 1117
+f 1117 847 1118
+f 816 1088 849
+f 849 1088 1105
+f 849 1105 647
+f 647 1105 1107
+f 841 1109 648
+f 648 1109 1106
+f 648 1106 649
+f 649 1106 1104
+f 649 1104 848
+f 848 1104 1103
+f 848 1103 847
+f 847 1103 1118
+f 647 1107 835
+f 835 1107 1102
+f 816 815 1088
+f 1088 815 1089
+f 1095 825 1094
+f 1094 825 827
+f 1094 827 1092
+f 1092 827 840
+f 1092 840 1090
+f 1090 840 833
+f 1090 833 1098
+f 1098 833 831
+f 1098 831 1086
+f 1086 831 830
+f 835 1102 836
+f 836 1102 1101
+f 836 1101 834
+f 834 1101 1100
+f 834 1100 832
+f 832 1100 1099
+f 832 1099 815
+f 815 1099 1089
+f 825 1095 824
+f 824 1095 1081
+f 830 829 1086
+f 1086 829 1085
+f 803 1070 651
+f 651 1070 1083
+f 651 1083 652
+f 652 1083 1079
+f 652 1079 814
+f 814 1079 1078
+f 814 1078 822
+f 822 1078 1076
+f 822 1076 811
+f 811 1076 1074
+f 811 1074 810
+f 810 1074 1073
+f 824 1081 819
+f 819 1081 1080
+f 819 1080 820
+f 820 1080 910
+f 820 910 821
+f 821 910 912
+f 821 912 650
+f 650 912 1072
+f 650 1072 828
+f 828 1072 1084
+f 828 1084 829
+f 829 1084 1085
+f 810 1073 808
+f 808 1073 1066
+f 1070 803 1071
+f 1071 803 805
+f 1071 805 1060
+f 1060 805 806
+f 1064 796 915
+f 915 796 795
+f 915 795 913
+f 913 795 799
+f 913 799 1068
+f 1068 799 801
+f 1068 801 1061
+f 1061 801 807
+f 1061 807 1054
+f 1054 807 789
+f 808 1066 798
+f 798 1066 1067
+f 798 1067 800
+f 800 1067 1063
+f 800 1063 802
+f 802 1063 1062
+f 802 1062 806
+f 806 1062 1060
+f 796 1064 792
+f 792 1064 1065
+f 1054 789 1055
+f 1055 789 788
+f 1055 788 1057
+f 1057 788 793
+f 1046 791 916
+f 916 791 787
+f 792 1065 793
+f 793 1065 1057
+f 791 1046 782
+f 782 1046 1045
+f 787 780 916
+f 916 780 917
+f 1048 783 1047
+f 1047 783 781
+f 782 1045 780
+f 780 1045 917
+f 783 1048 770
+f 770 1048 1041
+f 781 777 1047
+f 1047 777 1040
+f 1042 769 1043
+f 1043 769 768
+f 770 1041 777
+f 777 1041 1040
+f 769 1042 655
+f 655 1042 1052
+f 768 778 1043
+f 1043 778 1044
+f 1032 737 1053
+f 1053 737 656
+f 1053 656 1051
+f 1051 656 654
+f 1051 654 1049
+f 1049 654 779
+f 1049 779 1036
+f 1036 779 775
+f 1044 778 1050
+f 1050 778 653
+f 1050 653 1052
+f 1052 653 655
+f 737 1032 738
+f 738 1032 1033
+f 1036 775 1037
+f 1037 775 773
+f 1037 773 1034
+f 1034 773 772
+f 1007 771 1035
+f 1035 771 766
+f 738 1033 772
+f 772 1033 1034
+f 771 1007 764
+f 764 1007 1006
+f 766 765 1035
+f 1035 765 1028
+f 1027 745 1030
+f 1030 745 762
+f 764 1006 765
+f 765 1006 1028
+f 745 1027 743
+f 743 1027 1012
+f 1030 762 1031
+f 1031 762 761
+f 1031 761 1010
+f 1010 761 753
+f 1011 752 1003
+f 1003 752 741
+f 743 1012 753
+f 753 1012 1010
+f 752 1011 751
+f 751 1011 999
+f 741 740 1003
+f 1003 740 998
+f 996 756 997
+f 997 756 746
+f 751 999 740
+f 740 999 998
+f 756 996 750
+f 750 996 992
+f 997 746 1005
+f 1005 746 748
+f 1005 748 992
+f 992 748 750
+f 695 924 697
+f 697 924 954
+f 697 954 899
+f 899 954 1166
+f 899 1166 898
+f 898 1166 1165
+f 898 1165 897
+f 897 1165 1164
+f 897 1164 670
+f 670 1164 979
+f 670 979 668
+f 668 979 981
+f 990 760 991
+f 991 760 749
+f 991 749 1004
+f 1004 749 747
+f 1004 747 1009
+f 1009 747 742
+f 1009 742 1029
+f 1029 742 763
+f 1029 763 1039
+f 1039 763 767
+f 1039 767 1038
+f 1038 767 774
+f 1038 774 918
+f 918 774 776
+f 918 776 1058
+f 1058 776 786
+f 1058 786 1056
+f 1056 786 794
+f 1056 794 1059
+f 1059 794 790
+f 1059 790 1069
+f 1069 790 804
+f 1069 804 1087
+f 1087 804 817
+f 1087 817 1116
+f 1116 817 846
+f 1116 846 1126
+f 1126 846 853
+f 1126 853 971
+f 971 853 660
+f 971 660 987
+f 987 660 662
+f 1013 739 1008
+f 1008 739 744
+f 1008 744 1000
+f 1000 744 757
+f 1000 757 1001
+f 1024 726 1025
+f 1025 726 727
+f 1025 727 1026
+f 1026 727 905
+f 1026 905 1023
+f 1023 905 906
+f 1023 906 1021
+f 1021 906 658
+f 1021 658 919
+f 919 658 657
+f 919 657 920
+f 920 657 732
+f 920 732 1015
+f 1015 732 733
+f 1015 733 1017
+f 1017 733 735
+f 1017 735 1018
+f 1018 735 785
+f 1018 785 1013
+f 1013 785 736
+f 1013 736 739
+f 729 928 930
+f 729 930 708
+f 708 930 940
+f 708 940 722
+f 722 940 942
+f 722 942 720
+f 720 942 944
+f 720 944 717
+f 717 944 949
+f 717 949 703
+f 1156 1155 891
+f 891 1155 890
+f 1146 699 1147
+f 1147 699 882
+f 1147 882 1149
+f 1149 882 884
+f 1149 884 1151
+f 1151 884 886
+f 1151 886 1153
+f 1153 886 888
+f 1153 888 1154
+f 1154 888 889
+f 1154 889 1155
+f 1155 889 890
+f 876 951 1140
+f 968 681 962
+f 962 681 686
+f 962 686 1140
+f 1140 686 701
+f 1140 701 876
+f 928 729 926
+f 926 729 728
+f 926 728 927
+f 927 728 725
+f 927 725 1024
+f 1024 725 726
+f 951 876 947
+f 947 876 877
+f 947 877 948
+f 948 877 704
+f 948 704 949
+f 949 704 703
+f 681 968 966
+f 681 966 690
+f 690 966 964
+f 690 964 691
+f 691 964 963
+f 691 963 693
+f 693 963 924
+f 693 924 695
+f 987 662 664
+f 987 664 985
+f 985 664 666
+f 985 666 983
+f 983 666 668
+f 983 668 981
+f 760 990 993
+f 760 993 759
+f 759 993 994
+f 759 994 758
+f 758 994 995
+f 758 995 754
+f 754 995 1002
+f 754 1002 755
+f 755 1002 1001
+f 755 1001 757
+f 961 689 970
+f 970 689 688
+f 970 688 969
+f 969 688 687
+f 969 687 967
+f 967 687 680
+f 967 680 965
+f 965 680 679
+f 965 679 922
+f 922 679 692
+f 922 692 923
+f 923 692 694
+f 923 694 955
+f 955 694 696
+f 955 696 956
+f 956 696 698
+f 956 698 958
+f 958 698 682
+f 958 682 959
+f 959 682 684
+f 959 684 960
+f 960 684 685
+f 960 685 961
+f 961 685 689
+f 973 677 975
+f 975 677 676
+f 975 676 976
+f 976 676 675
+f 976 675 977
+f 977 675 673
+f 977 673 978
+f 978 673 672
+f 978 672 980
+f 980 672 671
+f 980 671 982
+f 982 671 669
+f 982 669 984
+f 984 669 667
+f 984 667 986
+f 986 667 665
+f 986 665 988
+f 988 665 663
+f 988 663 989
+f 989 663 661
+f 989 661 972
+f 972 661 678
+f 972 678 973
+f 973 678 677
+f 938 710 939
+f 939 710 724
+f 939 724 941
+f 941 724 723
+f 941 723 943
+f 943 723 721
+f 943 721 945
+f 945 721 719
+f 945 719 946
+f 946 719 718
+f 946 718 931
+f 931 718 716
+f 931 716 932
+f 932 716 715
+f 932 715 936
+f 936 715 714
+f 936 714 935
+f 935 714 713
+f 935 713 934
+f 934 713 712
+f 934 712 937
+f 937 712 711
+f 937 711 938
+f 938 711 710
+

grippers/gloria_m/manifest.json

@@ -0,0 +1,94 @@
+{
+  "profile_id": "gloria_m",
+  "root_link": "adapter",
+  "mount": {
+    "position_m": [0.0, 0.0, 0.0],
+    "quaternion_wxyz": [1.0, 0.0, 0.0, 0.0],
+    "align_to_module_face": true
+  },
+  "links": {
+    "adapter": {
+      "mesh": "../../arms/ArmBot/meshes/gripper_adapter.obj",
+      "rgba": [0.44, 0.47, 0.51, 1.0],
+      "mass_kg": 0.04,
+      "center_of_mass_m": [0.0, 0.0, 0.005026381428334543],
+      "inertia_kg_m2": [0.0000141, 0.0, 0.0, 0.0000141, 0.0, 0.0000276]
+    },
+    "base_link": {
+      "mesh": "meshes/base_link.STL",
+      "rgba": [0.03, 0.03, 0.035, 1.0],
+      "visual_meshes": [
+        {"mesh": "meshes/base_link_housing.STL", "rgba": [0.03, 0.03, 0.035, 1.0]},
+        {"mesh": "meshes/base_link_joint_path.STL", "rgba": [0.890196078431372, 0.890196078431372, 0.913725490196078, 1.0]}
+      ],
+      "mass_kg": 0.460840762127043,
+      "center_of_mass_m": [0.0322831547531414, 0.0155373283069185, 0.000209572053525922],
+      "inertia_kg_m2": [0.000243304810264445, 2.24275605410303e-06, -1.0447426151954e-07, 0.000196188909808811, 1.35450251416063e-07, 0.000120700015251833]
+    },
+    "link1": {
+      "mesh": "meshes/link1.STL",
+      "rgba": [0.05, 0.05, 0.055, 1.0],
+      "mass_kg": 0.0296288921925423,
+      "center_of_mass_m": [-0.0446884465873861, 0.000176062070496557, -0.0113671984108969],
+      "inertia_kg_m2": [5.57058995516245e-06, -4.01857631687217e-08, 1.30093990846976e-06, 6.78154772709863e-06, -3.33702342123091e-08, 8.41996124461422e-06]
+    },
+    "link2": {
+      "mesh": "meshes/link2.STL",
+      "rgba": [0.05, 0.05, 0.055, 1.0],
+      "mass_kg": 0.0296288921925423,
+      "center_of_mass_m": [-0.0446884465873861, 0.000176062070498043, -0.0113671984108968],
+      "inertia_kg_m2": [5.57058995516245e-06, -4.01857631687329e-08, 1.30093990846976e-06, 6.78154772709861e-06, -3.33702342122992e-08, 8.41996124461421e-06]
+    },
+    "tool0": {
+      "mass_kg": 0.0001,
+      "center_of_mass_m": [0.0, 0.0, 0.0],
+      "inertia_kg_m2": [0.000000001, 0.0, 0.0, 0.000000001, 0.0, 0.000000001]
+    }
+  },
+  "joints": [
+    {
+      "id": "adapter_fixed",
+      "type": "fixed",
+      "parent": "adapter",
+      "child": "base_link",
+      "origin": {"position_m": [0.0, 0.0, 0.01], "quaternion_wxyz": [0.7071067811865476, 0.0, -0.7071067811865475, 0.0]}
+    },
+    {
+      "id": "left_jaw",
+      "type": "prismatic",
+      "parent": "base_link",
+      "child": "link1",
+      "origin": {"position_m": [0.1295, -0.00008373, 0.050653], "quaternion_wxyz": [0.0, -1.0, 0.0, 0.0]},
+      "axis": [0.0, 0.0, -1.0],
+      "limits_m": [-0.05, 0.0]
+    },
+    {
+      "id": "right_jaw",
+      "type": "prismatic",
+      "parent": "base_link",
+      "child": "link2",
+      "origin": {"position_m": [0.1295, -0.00008373, -0.050347]},
+      "axis": [0.0, 0.0, 1.0],
+      "limits_m": [0.0, 0.05]
+    },
+    {
+      "id": "tool0_fixed",
+      "type": "fixed",
+      "parent": "base_link",
+      "child": "tool0",
+      "origin": {"position_m": [0.1295, 0.0, 0.0]}
+    }
+  ],
+  "frames": {"tool0": "tool0"},
+  "collision_exclusions": [["base_link", "link1"], ["base_link", "link2"], ["link1", "link2"]],
+  "controller": {
+    "kp_n_per_m": 100.0,
+    "kd_n_s_per_m": 5.0,
+    "max_force_n": 5.0,
+    "damping": 0.1
+  },
+  "grip": {
+    "open": {"left_jaw": 0.0, "right_jaw": 0.0},
+    "closed": {"left_jaw": -0.05, "right_jaw": 0.05}
+  }
+}

grippers/onrobot_RG6/config.json

@@ -0,0 +1,63 @@
+{
+    "open": {
+        "finger_joint": -0.628319
+    },
+    "close": {
+        "finger_joint": 0.628319
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.22
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.15,
+            0.025,
+            0.036
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.209
+        ],
+        "extents2": [
+            0.09,
+            0.025,
+            0.036
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.25
+        ]
+    },
+    "links": [
+        "world",
+        "onrobot_rg6_base_link",
+        "left_outer_knuckle",
+        "left_inner_knuckle",
+        "left_inner_finger",
+        "right_outer_knuckle",
+        "right_inner_knuckle",
+        "right_inner_finger"
+    ],
+    "standoff": [
+        0.0,
+        0.05
+    ],
+    "bbox": [
+        [
+            -0.10665612113325748,
+            -0.035560745716588016,
+            0.0001461611536797136
+        ],
+        [
+            0.10665612113325593,
+            0.03990842928903105,
+            0.227563079976672
+        ]
+    ],
+    "symmetric": true,
+    "type": "revolute_2f"
+}

grippers/onrobot_RG6/gripper.urdf

@@ -0,0 +1,182 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from onrobot_rg6_model.xacro        | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="onrobot_rg6_model">
+  <link name="world"/>
+  <joint name="joint0" type="fixed">
+    <parent link="world"/>
+    <child link="onrobot_rg6_base_link"/>
+    <origin rpy="0. 0. 1.5708" xyz="0. 0. 0."/>
+  </joint>
+
+  <link name="onrobot_rg6_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/base_link.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.024112 0.136813"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0.0" xyz="0 -0.01272 0.159500"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.047335 0.064495"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.872665" upper="0.872665" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 0.024112 0.136813"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 -3.14159265359" xyz="0 0.01272 0.159500"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.047335 0.064495"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.872665" upper="0.872665" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+</robot>
+

grippers/onrobot_RG6/gripper_spherical_dof.urdf

@@ -0,0 +1,219 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from onrobot_rg6_model.xacro        | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="onrobot_rg6_model">
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+  <link name="world"/>
+  <joint name="joint0" type="fixed">
+    <parent link="world"/>
+    <child link="onrobot_rg6_base_link"/>
+    <origin rpy="0. 0. 1.5708" xyz="0. 0. 0."/>
+  </joint>
+
+  <link name="onrobot_rg6_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/base_link.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.8 0.8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/visual/inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/rg6/collision/inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.024112 0.136813"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0.0" xyz="0 -0.01272 0.159500"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.047335 0.064495"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.872665" upper="0.872665" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 0.024112 0.136813"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 -3.14159265359" xyz="0 0.01272 0.159500"/>
+    <parent link="onrobot_rg6_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.628319" upper="0.628319" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 -0.047335 0.064495"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.872665" upper="0.872665" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+</robot>
+

grippers/onrobot_RG6/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [-0.004553798586130142, 0.008652064949274063, 1.0896474123001099e-05, 0.0014830008149147034, 0.005801504477858543, 0.007168147712945938, 0.002315610647201538, 0.0029285475611686707, -0.0030561573803424835, -0.0003145020455121994, 0.006534881889820099, 0.0005472898483276367, -0.005354277789592743, 0.002449437975883484, 0.00406782329082489, 0.006727434694766998, 0.002817746251821518, 0.005028679966926575, 0.0012473296374082565, 1.266971230506897e-05, 0.0010667704045772552, 0.004014667123556137, 0.0060362182557582855, 0.00034017860889434814, -0.004494823515415192, 0.003424393944442272, 0.002385456347838044, 0.009023316204547882, -0.004576854407787323, -0.0005967766046524048, -0.006665579974651337, -0.0015235468745231628, -0.003026951104402542, 0.00615911278873682, -0.00425020232796669, -0.0036671943962574005, -0.006779939867556095, 0.0036557428538799286, 0.005459211766719818, 0.004274003207683563, -0.0030991060193628073, 0.0011891759932041168, -2.843514084815979e-05, -0.006884336471557617, 0.004565741866827011, -0.0038180723786354065, 0.004084378480911255, -0.00897575169801712, -0.0038035809993743896, 0.0024854876101017, 0.008234761655330658, -0.003201030194759369, -0.010301128029823303, 0.004864990711212158, 0.0005688145756721497, 0.0027425335720181465, 0.002279527485370636, 0.007150137796998024, -0.0008272342383861542, -0.001053445041179657, 0.004958216100931168, -0.0032161250710487366, -0.0055651916190981865, -0.0001537725329399109], "close": [-0.0034905970096588135, 0.005950167775154114, 0.002183198928833008, 0.004691507667303085, 0.0004427935928106308, -0.0031964443624019623, 0.005329854786396027, 0.0013719014823436737, 0.0018256865441799164, -0.0003131013363599777, 0.0009392350912094116, 0.0026250332593917847, -0.0031310468912124634, 0.006056010723114014, 0.00018897652626037598, 0.004268422722816467, 0.005036838352680206, 0.001829192042350769, -0.006911616772413254, 0.0009119603782892227, 0.008222021162509918, 6.58966600894928e-05, -0.005550295114517212, -0.002525724470615387, -0.0065436288714408875, -0.001344502903521061, -0.0030906142201274633, 0.007505089044570923, -0.0035243816673755646, -0.0032008662819862366, -0.0018361732363700867, -0.0025831982493400574, 0.0027370937168598175, -0.001680745743215084, -0.004115067422389984, -0.002634141594171524, 0.0005150558426976204, 0.004588477313518524, 0.005040846765041351, 0.0003389604389667511, 0.0029174324590712786, -0.002098802477121353, 0.0006161555647850037, -0.0010190457105636597, -0.0005272477865219116, 0.002494819462299347, 0.004176683723926544, -0.004179917275905609, 0.0007403120398521423, 0.0036360546946525574, 0.003593072295188904, -0.0034970417618751526, -0.007806181907653809, 0.0031599774956703186, 0.001837320625782013, -0.002375182695686817, 0.0037589818239212036, 0.0036756042391061783, -0.0036078467965126038, 0.0034153275191783905, -0.0030508749186992645, 0.001713404431939125, 0.006583200767636299, -0.004850814118981361], "half": [-0.008074481040239334, 0.006490983068943024, 0.0021882690489292145, 0.004244416952133179, 0.004451841115951538, 0.001054316759109497, 0.0023270510137081146, 0.00265464186668396, -0.005334347486495972, 0.0005882736295461655, 0.00578191876411438, 0.00011464208364486694, -4.030764102935791e-06, 0.008127488195896149, 0.0010519511997699738, 0.008577719330787659, 0.001405276358127594, 0.0060911402106285095, 0.009533165022730827, -0.0035421140491962433, 0.006995391100645065, -0.0015334896743297577, -0.0012721531093120575, -0.005056431517004967, 0.002070017158985138, 0.0013317381963133812, -0.002536117797717452, 0.001248374581336975, -0.0023148804903030396, -0.004854552447795868, -0.0042510852217674255, -0.003712370991706848, -0.003992393612861633, 0.004692797549068928, 0.0010715164244174957, -0.0068879686295986176, -0.0006711436435580254, -0.0006044767796993256, 0.005574546754360199, 0.001951519399881363, -0.001214949181303382, -0.004245813935995102, 0.004842765629291534, -0.00870349258184433, 0.00250156968832016, -0.0024854764342308044, -0.005508881062269211, -0.00488310307264328, 0.003042668104171753, 0.0005678199231624603, 0.007243886590003967, -0.001708701252937317, -0.007397539913654327, 0.005486898124217987, 0.004309505224227905, 0.0017046323046088219, -0.0019494816660881042, 0.0013556554913520813, -0.002746112644672394, -0.006118264049291611, 0.0008985660970211029, -0.0005677230656147003, 0.0033254558220505714, 0.007707615382969379]}

grippers/robotiq_2f_140/README.md

@@ -0,0 +1,12 @@
+This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder.
+We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
+
+# Robotiq 140mm 2-Finger-Adaptive-Gripper 
+
+This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**.
+
+## Robot Visual
+![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png)
+
+## Robot Collision 
+![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png)

grippers/robotiq_2f_140/config.json

@@ -0,0 +1,67 @@
+{
+    "open": {
+        "finger_joint": 0.0
+    },
+    "close": {
+        "finger_joint": 0.7
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.195
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.125,
+            0.032,
+            0.062
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.175
+        ],
+        "extents2": [
+            0.066,
+            0.032,
+            0.062
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.195
+        ]
+    },
+    "links": [
+        "world",
+        "robotiq_arg2f_base_link",
+        "left_outer_knuckle",
+        "left_outer_finger",
+        "left_inner_finger",
+        "left_inner_finger_pad",
+        "left_inner_knuckle",
+        "right_outer_knuckle",
+        "right_outer_finger",
+        "right_inner_finger",
+        "right_inner_finger_pad",
+        "right_inner_knuckle"
+    ],
+    "standoff": [
+        0.0,
+        0.04
+    ],
+    "bbox": [
+        [
+            -0.10123226633253271,
+            -0.037499989599962404,
+            -0.0027397775556892157
+        ],
+        [
+            0.10123226633253514,
+            0.037499989600156484,
+            0.20946310430272147
+        ]
+    ],
+    "symmetric": true,
+    "type": "revolute_2f"
+}

grippers/robotiq_2f_140/gripper.urdf

@@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_140_model.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_140_model">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="robotiq_arg2f_base_link"/>
+    <origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
+  </joint>
+
+  <link name="robotiq_arg2f_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
+        <!-- <mesh filename="./meshes/visual/robotiq_arg2f_140_base_link.dae" scale="0.001 0.001 0.001"/> -->
+        <mesh filename="./meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.027 0.065 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.07 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.027 0.065 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.07 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="2.29579632679 0 0" xyz="0 -0.030601 0.054905"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.7" velocity="2.0"/>
+  </joint>
+  <joint name="left_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 0.0" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
+    <parent link="left_outer_finger"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 3.14159265359" xyz="0 0.030601 0.054905"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.725" upper="0.725" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 -3.14159265359" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+</robot>

grippers/robotiq_2f_140/gripper_spherical_dof.urdf

@@ -0,0 +1,318 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_140_model.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_140_model">
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="robotiq_arg2f_base_link"/>
+    <origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
+  </joint>
+
+  <link name="robotiq_arg2f_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
+        <!-- <mesh filename="./meshes/visual/robotiq_arg2f_140_base_link.dae" scale="0.001 0.001 0.001"/> -->
+        <mesh filename="./meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.027 0.065 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.07 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_outer_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.027 0.065 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.03 0.07 0.0075"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/visual/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/robotiq_arg2f_140_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="2.29579632679 0 0" xyz="0 -0.030601 0.054905"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.7" velocity="2.0"/>
+  </joint>
+  <joint name="left_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 0.0" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
+    <parent link="left_outer_finger"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 3.14159265359" xyz="0 0.030601 0.054905"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.725" upper="0.725" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <origin rpy="2.29579632679 0 -3.14159265359" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="-0.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0457554015893473 -0.0272203446692936"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+</robot>

grippers/robotiq_2f_140/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [0.0020004138350486755, 0.0017535090446472168, -0.002787988632917404, 0.0015215277671813965, 0.0020589232444763184, 0.004933075979351997, 0.005308032035827637, 0.0033976957201957703, 0.0023363567888736725, -0.0022469237446784973, 0.004308529198169708, 0.0024738609790802, 0.0011515095829963684, 0.0010357126593589783, -0.0014195367693901062, -0.0018721595406532288, 0.0006260015070438385, 0.0004534497857093811, 0.0013898201286792755, -0.00321388803422451, -0.00036281347274780273, 0.0035793818533420563, 0.004073508083820343, 0.005074772983789444, 0.00037188082933425903, -0.0011869119480252266, -0.0016657707747071981, 0.000241011381149292, 0.0006257221102714539, 0.0043444037437438965, 0.0017824843525886536, 0.0038715675473213196, -0.0006393007934093475, 0.0022585829719901085, 0.00524037703871727, 0.002107139676809311, -9.616836905479431e-05, 0.0025572292506694794, -0.0024634599685668945, 0.0015533305704593658, 0.0008188665378838778, 0.001313779503107071, 0.00142737478017807, -0.004992984235286713, 0.0018364861607551575, -0.004859223961830139, -6.593763828277588e-06, -0.002596035599708557, -0.00267874076962471, -0.005927123129367828, 0.0007081478834152222, 0.0011800974607467651, -0.0071520209312438965, 0.0024253353476524353, -0.004422307014465332, 0.001536673866212368, -0.0018818974494934082, -0.0022734086960554123, -0.0016707256436347961, 0.0017576627433300018, -0.0008641071617603302, -0.0024375077337026596, -0.0047742752358317375, -0.0010463520884513855], "close": [-0.003744024783372879, 0.010192424058914185, 0.0034375451505184174, 0.004981398582458496, 0.003105573356151581, -0.00048682838678359985, 0.007872998714447021, 0.005487069487571716, -0.0008084103465080261, 0.0008579138666391373, 3.255903720855713e-06, 0.001974044367671013, -0.0016668811440467834, 0.006232433021068573, 0.0036280229687690735, 0.002154327929019928, 0.005954038351774216, 0.010175317525863647, -0.0028620362281799316, -0.003587905317544937, 0.0020311586558818817, 0.0007996000349521637, 0.0013210773468017578, 0.0005444623529911041, -0.005758844316005707, -0.002300630323588848, -0.006594981998205185, 0.004649043083190918, -0.00775512307882309, -0.00019779056310653687, -0.005948476493358612, -0.006785176694393158, 0.002954058349132538, 0.0031104786321520805, -0.004737108945846558, -0.0004353038966655731, -0.002116675488650799, 0.0027354173362255096, 0.007659010589122772, 0.00247148796916008, 0.0010181975085288286, 0.0013919472694396973, -0.0008929930627346039, -0.0026511363685131073, 0.0016190484166145325, -0.0012909919023513794, 0.0027436241507530212, -0.0043069422245025635, 0.0003440193831920624, 0.00110626220703125, -0.0008422136306762695, -0.0007299855351448059, -0.0022642910480499268, 0.008537240326404572, 0.0010535791516304016, 0.0007084142416715622, 0.007651247084140778, 0.0016321763396263123, 8.826330304145813e-05, 0.0007863789796829224, 0.0013934988528490067, -0.0013092868030071259, 0.0006753085181117058, 0.0009746234863996506], "half": [-0.007874667644500732, 0.003824181854724884, 0.00032059475779533386, 0.002811688929796219, 0.004780212417244911, 0.006437361240386963, 0.006282083690166473, 0.0037662312388420105, -0.0010130293667316437, -0.001389969140291214, 0.0027456656098365784, 0.0048942286521196365, -0.002634279429912567, 0.007921643555164337, 0.003716297447681427, 0.00845232605934143, 0.0023174844682216644, 0.00654100626707077, 0.0031162165105342865, 0.0013084262609481812, -0.002259436994791031, 0.0019738376140594482, 0.006701163947582245, 7.173232734203339e-05, -0.010218538343906403, -0.0052784765139222145, 0.002765417331829667, 0.002226203680038452, -0.004162415862083435, -0.00452759861946106, -0.006842769682407379, -0.002238847315311432, -0.004407059401273727, 0.003927098587155342, 0.002260863780975342, -0.0022085383534431458, -0.0028780410066246986, 0.004660177975893021, 0.005142472684383392, -9.07108187675476e-06, 0.0007067073602229357, 0.0025285184383392334, 7.4356794357299805e-06, -0.003342278301715851, 0.0015062689781188965, 8.62516462802887e-05, 0.0009803809225559235, -0.0009521767497062683, 0.000667128711938858, 0.001793358474969864, 0.0005386248230934143, -0.0046501681208610535, -0.005132950842380524, 0.00632748007774353, 0.0012477636337280273, -0.0035309819504618645, -8.226186037063599e-05, 0.0011991113424301147, -0.0029345769435167313, -0.004392918199300766, 2.874806523323059e-05, -0.003958074375987053, -0.002971394918859005, 0.0010400936007499695]}

grippers/robotiq_2f_85/README.md

@@ -0,0 +1,13 @@
+This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder.
+We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
+
+# Robotiq 85mm 2-Finger-Adaptive-Gripper 
+
+This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**.
+
+## Robot Visual
+![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png)
+
+## Robot Collision 
+![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png)
+

grippers/robotiq_2f_85/config.json

@@ -0,0 +1,67 @@
+{
+    "open": {
+        "finger_joint": 0.0
+    },
+    "close": {
+        "finger_joint": 0.8
+    },
+    "fingertip": [
+        0.0,
+        0.0,
+        0.136
+    ],
+    "sweep_volume": {
+        "extents": [
+            0.085,
+            0.032,
+            0.036
+        ],
+        "offset": [
+            0.0,
+            0.0,
+            0.13
+        ],
+        "extents2": [
+            0.046,
+            0.032,
+            0.036
+        ],
+        "offset2": [
+            0.0,
+            0.0,
+            0.143
+        ]
+    },
+    "links": [
+        "world",
+        "robotiq_arg2f_base_link",
+        "left_outer_knuckle",
+        "left_outer_finger",
+        "left_inner_finger",
+        "left_inner_finger_pad",
+        "left_inner_knuckle",
+        "right_outer_knuckle",
+        "right_outer_finger",
+        "right_inner_finger",
+        "right_inner_finger_pad",
+        "right_inner_knuckle"
+    ],
+    "standoff": [
+        0.0,
+        0.02
+    ],
+    "bbox": [
+        [
+            -0.07421507382649573,
+            -0.037499999999747013,
+            -0.004
+        ],
+        [
+            0.07421507382649821,
+            0.037499999999747013,
+            0.14907399999999998
+        ]
+    ],
+    "symmetric": true,
+    "type": "revolute_2f"
+}

grippers/robotiq_2f_85/gripper.urdf

@@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_85_model">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="robotiq_arg2f_base_link"/>
+    <origin rpy="0.0 0.0 1.5708" xyz="0.0 0.0 0.0"/>
+  </joint>
+
+  <link name="robotiq_arg2f_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+         <mesh filename="meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
+  </joint>
+  <joint name="left_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="left_outer_finger"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
+    <origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+</robot>

grippers/robotiq_2f_85/gripper_spherical_dof.urdf

@@ -0,0 +1,318 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_85_model">
+  <link name="hand_x_link"></link>
+  <link name="hand_y_link"></link>
+  <link name="hand_z_link"></link>
+  <link name="hand_spherical_link"></link>
+
+  <joint name="hand_x_joint" type="prismatic">
+    <parent link="hand_x_link"/>
+    <child link="hand_y_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_y_joint" type="prismatic">
+    <parent link="hand_y_link"/>
+    <child link="hand_z_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+  <joint name="hand_z_joint" type="prismatic">
+    <parent link="hand_z_link"/>
+    <child link="hand_spherical_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="200" lower="-100.0" upper="100.0" velocity="1.0"/>
+  </joint>
+
+  <joint name="spherical_joint" type="spherical">
+    <parent link="hand_spherical_link"/>
+    <child link="world"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="robotiq_arg2f_base_link"/>
+    <origin rpy="0.0 0.0 1.5708" xyz="0.0 0.0 0.0"/>
+  </joint>
+
+  <link name="robotiq_arg2f_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+         <mesh filename="meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
+  </joint>
+  <joint name="left_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="left_outer_finger"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
+    <origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+</robot>

grippers/robotiq_2f_85/gripper_stl.urdf

@@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_85_model">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="robotiq_arg2f_base_link"/>
+    <origin rpy="0.0 0.0 1.5708" xyz="0.0 0.0 0.0"/>
+  </joint>
+
+  <link name="robotiq_arg2f_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+         <mesh filename="meshes/visual/robotiq_arg2f_85_base_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="left_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_outer_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_inner_finger_pad">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.00635 0.0375"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.9 0.0 0.0 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="right_inner_knuckle">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="finger_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
+  </joint>
+  <joint name="left_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="left_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 3.14159265359" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="left_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="left_outer_finger"/>
+    <child link="left_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="left_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_outer_finger_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
+    <origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+</robot>

grippers/robotiq_2f_85/proc_gripper_only_pointnet_vae_repr.json

@@ -0,0 +1 @@
+{"open": [0.003256414085626602, 0.001356951892375946, 0.0013088695704936981, 0.0031623616814613342, -0.003599122166633606, -0.005210943520069122, 0.0013616755604743958, 0.002150312066078186, 0.0025508105754852295, 0.00311957485973835, -0.001824885606765747, -0.004119912162423134, 0.005054444074630737, 0.002791300415992737, -0.005341712385416031, 0.0005037710070610046, -0.0025499053299427032, -0.0006770715117454529, 0.0059990230947732925, 0.0013552680611610413, 0.004668544977903366, -0.002344731241464615, -0.003738630563020706, 0.0016449987888336182, -0.0015792325139045715, -0.0012711035087704659, -0.002388786291703582, -0.003322497010231018, 0.003422211855649948, 0.0041298046708106995, 0.0021316036581993103, 0.006838776171207428, 0.0016689710319042206, -0.00016026571393013, 0.005923077464103699, 0.006172154098749161, 0.008412959985435009, -0.0005782656371593475, -0.0017644092440605164, -0.0004423372447490692, 0.0033505887258797884, 0.00318261981010437, 0.003815658390522003, -0.0017214156687259674, -0.002498030662536621, -0.006634324789047241, -0.004435338079929352, 0.004041306674480438, -0.000898115336894989, -0.011099416762590408, 0.009175017476081848, -0.003954172134399414, -0.00630544126033783, 0.0006601214408874512, -0.0023797079920768738, 0.005641758441925049, 0.0037789344787597656, -0.00264781154692173, 0.005954982712864876, 0.001720815896987915, -0.005831580609083176, -0.004615490324795246, 0.0019877292215824127, 1.8067657947540283e-06], "close": [0.004304781556129456, -0.0001760721206665039, -0.0051457323133945465, 0.00020799040794372559, 0.0008015800267457962, -0.0015696734189987183, 0.0010741334408521652, -0.002940140664577484, 0.00015765801072120667, 0.003300825133919716, -0.004678554832935333, -0.0019542593508958817, 0.0030839964747428894, 0.0012163259088993073, -0.0025495924055576324, -0.003052555024623871, 0.0040149204432964325, -0.0004502534866333008, -0.0002892687916755676, 0.0015185922384262085, 0.002358183264732361, -0.006093353033065796, 0.002200815826654434, 0.0023638084530830383, -0.002357281744480133, -0.002172512002289295, -0.0032815781887620687, -0.0030818134546279907, 0.004790648818016052, 0.003721572458744049, 0.0007892251014709473, 1.074373722076416e-05, 0.0036131106317043304, -0.0011572232469916344, 0.0019027367234230042, 0.006412524729967117, 0.0027260323986411095, -0.0053428709506988525, -0.00017679482698440552, 0.0008587352931499481, -6.772088818252087e-05, 0.0007879287004470825, -0.0021363236010074615, 0.0006833374500274658, -0.0045711323618888855, 0.0010554566979408264, -0.0023182332515716553, 0.005026422441005707, 0.001577761024236679, 0.0014546774327754974, -0.001529000699520111, 0.0026171281933784485, 0.0062689632177352905, 0.0007064938545227051, -0.0008712559938430786, 0.002179007977247238, 0.0009953901171684265, -0.0002955477684736252, 0.004029519855976105, 0.007427524775266647, 0.003878016024827957, 0.0004533641040325165, 0.0031386474147439003, -0.0031452514231204987], "half": [-0.005957245826721191, 0.00878433883190155, -0.0018247850239276886, 0.0033463314175605774, 0.0038035400211811066, -0.0003538206219673157, 0.003249838948249817, 0.00471215695142746, 6.652995944023132e-05, -0.0016290489584207535, -0.003461390733718872, 0.0036364346742630005, 0.0037474557757377625, 0.004859395325183868, 0.0008010491728782654, -0.0005265176296234131, 0.0025006644427776337, 0.004407130181789398, 0.0017263703048229218, 0.00042972713708877563, 0.0022862255573272705, -0.0038751959800720215, -0.0034577809274196625, 0.0029362738132476807, -0.00657469779253006, -0.005432491190731525, -0.006773145869374275, 0.0013472288846969604, -0.002284519374370575, -0.0011228099465370178, -0.004913195967674255, 0.0029670819640159607, 0.00488806888461113, 0.005642654374241829, -0.00314929336309433, 0.00021238252520561218, 0.0024368232116103172, -0.0009093359112739563, -0.0015281513333320618, -0.0019338801503181458, -4.2221276089549065e-05, 0.0034981369972229004, 0.0003801770508289337, -0.004273794591426849, -0.005566157400608063, -0.0059211477637290955, -0.0040126703679561615, 0.0011240467429161072, -0.0013955645263195038, -0.0037368424236774445, 0.0026404932141304016, -0.002961389720439911, -0.0019136369228363037, 0.005387216806411743, -0.0050700753927230835, 0.0021458053961396217, 0.003071434795856476, -0.004438074305653572, 0.004637274891138077, 0.0020636431872844696, 0.0027472078800201416, -0.0010037198662757874, 0.00291267316788435, -0.006085731089115143]}