bobma commited on
Commit ·
dd78ca1
1
Parent(s): 473ca3d
Fix G2 arm and gripper convex collision assets
Browse files- assets/robots/g2/f65609e1/robot.usda +190 -28
assets/robots/g2/f65609e1/robot.usda
CHANGED
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@@ -1680,9 +1680,18 @@ def Xform "genie" (
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{
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over "arm_l_link1_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1722,9 +1731,18 @@ def Xform "genie" (
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{
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over "arm_l_link2_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1772,9 +1790,18 @@ def Xform "genie" (
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{
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over "arm_l_link3_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1810,9 +1837,18 @@ def Xform "genie" (
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{
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over "arm_l_link4_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1852,9 +1888,18 @@ def Xform "genie" (
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{
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over "arm_l_link5_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1894,9 +1939,18 @@ def Xform "genie" (
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{
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over "arm_l_link6_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -1932,9 +1986,18 @@ def Xform "genie" (
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{
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over "arm_l_link7_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2093,6 +2156,21 @@ def Xform "genie" (
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instanceable = false
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)
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{
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}
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}
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@@ -2571,9 +2649,18 @@ def Xform "genie" (
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{
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over "arm_r_link1_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2613,9 +2700,18 @@ def Xform "genie" (
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{
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over "arm_r_link2_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2663,9 +2759,18 @@ def Xform "genie" (
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{
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over "arm_r_link3_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2705,9 +2810,18 @@ def Xform "genie" (
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{
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over "arm_r_link4_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2747,9 +2861,18 @@ def Xform "genie" (
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{
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over "arm_r_link5_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2789,9 +2912,18 @@ def Xform "genie" (
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{
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over "arm_r_link6_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2827,9 +2959,18 @@ def Xform "genie" (
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{
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over "arm_r_link7_convex_0"
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{
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-
over "mesh"
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{
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-
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}
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}
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}
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@@ -2879,6 +3020,27 @@ def Xform "genie" (
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double3 xformOp:translate = (0.10199996829032898, -0.9378674256219771, 1.3414998054504397)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Camera "Right_Camera" (
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active = true
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prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
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{
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over "arm_l_link1_convex_0"
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{
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+
over "mesh" (
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+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
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+
)
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{
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+
float3[] extent = [(-0.056323268, -0.049215786, 0.0785), (0.05632175, 0.049207877, 0.23082179)]
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int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
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+
int[] faceVertexIndices = [40, 38, 39, 30, 29, 28, 40, 39, 14, 40, 14, 19, 40, 19, 18, 40, 18, 13, 47, 42, 41, 47, 41, 48, 47, 43, 42, 12, 31, 43, 12, 47, 44, 12, 43, 47, 15, 41, 42, 15, 42, 33, 15, 33, 0, 15, 0, 3, 45, 48, 46, 45, 47, 48, 45, 44, 47, 45, 19, 14, 45, 46, 19, 4, 3, 0, 4, 0, 1, 30, 21, 22, 30, 22, 10, 30, 7, 21, 30, 28, 7, 8, 21, 7, 8, 20, 21, 11, 35, 32, 11, 10, 35, 11, 30, 10, 11, 29, 30, 11, 32, 31, 11, 31, 12, 16, 48, 41, 16, 17, 18, 16, 46, 48, 16, 19, 46, 16, 18, 19, 16, 41, 15, 37, 0, 33, 37, 2, 1, 37, 1, 0, 37, 42, 43, 37, 31, 32, 37, 33, 42, 37, 43, 31, 37, 32, 35, 37, 35, 34, 37, 34, 36, 25, 24, 2, 25, 37, 36, 25, 2, 37, 5, 24, 56, 5, 1, 2, 5, 56, 58, 5, 58, 53, 5, 2, 24, 5, 4, 1, 5, 15, 3, 5, 3, 4, 5, 16, 15, 5, 6, 16, 5, 53, 54, 5, 54, 6, 9, 40, 13, 9, 38, 40, 9, 13, 51, 9, 51, 50, 52, 18, 17, 52, 13, 18, 52, 51, 13, 52, 53, 58, 52, 59, 49, 52, 50, 51, 52, 58, 59, 52, 49, 50, 52, 54, 53, 52, 16, 6, 52, 17, 16, 52, 6, 54, 23, 10, 22, 23, 35, 10, 23, 34, 35, 23, 22, 21, 23, 56, 24, 23, 57, 56, 23, 21, 20, 23, 24, 25, 23, 20, 57, 23, 36, 34, 23, 25, 36, 55, 58, 56, 55, 59, 58, 55, 56, 57, 55, 8, 27, 55, 20, 8, 55, 57, 20, 26, 39, 38, 26, 28, 29, 26, 29, 11, 26, 14, 39, 26, 45, 14, 26, 27, 8, 26, 7, 28, 26, 12, 44, 26, 44, 45, 26, 8, 7, 26, 11, 12, 26, 38, 9, 26, 49, 59, 26, 55, 27, 26, 59, 55, 26, 50, 49, 26, 9, 50]
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+
normal3f[] normals = None
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+
bool physics:collisionEnabled = 1
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+
int physxConvexHullCollision:hullVertexLimit = 64
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+
point3f[] points = [(-0.011885626, 0.031347472, 0.23082179), (-0.017461007, -0.03141175, 0.23082179), (-0.028439803, -0.032208163, 0.2251574), (0.010625566, 0.031309463, 0.23082179), (0.016628116, -0.031254876, 0.23082179), (0.02600836, -0.031792182, 0.2264136), (0.04093603, 0.03139168, 0.21649507), (-0.042294547, -0.021049064, 0.0785), (-0.03396899, -0.030127458, 0.0785), (0.043589976, -0.018527564, 0.0785), (-0.056323268, -0.0033093933, 0.12876388), (-0.043721803, 0.019256277, 0.0785), (-0.03402004, 0.030106833, 0.0785), (0.05632175, -0.000055296256, 0.13022362), (0.043611262, 0.01849561, 0.0785), (0.03377811, 0.032719564, 0.2198173), (0.040929202, 0.031619187, 0.21648799), (0.05632175, 0.03127142, 0.18599357), (0.05632175, 0.03208522, 0.17659885), (0.05031484, 0.035978414, 0.14512208), (-0.021442, -0.046534795, 0.08630061), (-0.049331952, -0.036148284, 0.14315398), (-0.056323268, -0.032010023, 0.17593148), (-0.056323268, -0.030793382, 0.19061866), (-0.033809796, -0.03299314, 0.21938379), (-0.05190584, -0.030892346, 0.20027855), (0.035854112, -0.027746806, 0.0785), (0.0015499794, -0.04447804, 0.0785), (-0.0444654, -0.013571188, 0.0785), (-0.04600632, 0.00846502, 0.0785), (-0.053848095, -0.002680601, 0.11371833), (-0.021753315, 0.046648193, 0.08646505), (-0.05105659, 0.035644997, 0.14790764), (-0.032835167, 0.03282446, 0.21987484), (-0.056323268, 0.03140895, 0.18470171), (-0.056323268, 0.03209234, 0.17690964), (-0.042504296, 0.03140895, 0.21489114), (-0.042454086, 0.03141385, 0.21494494), (0.045298364, -0.0112563595, 0.0785), (0.045298364, 0.011275172, 0.0785), (0.053071786, -0.000042292035, 0.110173024), (0.0045555416, 0.049207877, 0.09498764), (-0.004439806, 0.049207877, 0.09510297), (-0.009186109, 0.049207877, 0.08473404), (-0.0015068691, 0.043242995, 0.0785), (0.03197395, 0.032364413, 0.0785), (0.022661418, 0.04644431, 0.0862986), (-0.0017184136, 0.049207877, 0.08265971), (0.008962269, 0.049207877, 0.085108034), (0.023037888, -0.04608766, 0.08655369), (0.050268173, -0.035734214, 0.14458059), (0.05632175, -0.031912267, 0.17635809), (0.05632175, -0.030683856, 0.19161156), (0.035517305, -0.032965176, 0.2171734), (0.050789054, -0.030952409, 0.20260815), (0.0017179572, -0.049215786, 0.08171061), (-0.0046620113, -0.049215786, 0.095168), (-0.008934499, -0.049215786, 0.08466958), (0.0048450404, -0.049215786, 0.09483576), (0.008998854, -0.049215786, 0.08407618)]
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+
uniform token subdivisionScheme = "none"
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}
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}
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| 1697 |
}
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{
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over "arm_l_link2_convex_0"
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| 1733 |
{
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| 1734 |
+
over "mesh" (
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| 1735 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
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| 1736 |
+
)
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| 1737 |
{
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| 1738 |
+
float3[] extent = [(-0.05823778, -0.057965387, -0.064003155), (0.058237735, 0.14853384, 0.06409498)]
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| 1739 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
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| 1740 |
+
int[] faceVertexIndices = [58, 57, 59, 45, 47, 37, 45, 37, 34, 13, 5, 27, 13, 27, 25, 13, 14, 5, 19, 17, 16, 19, 16, 18, 8, 55, 56, 8, 56, 29, 8, 29, 4, 8, 4, 18, 8, 18, 16, 8, 16, 9, 10, 54, 55, 10, 11, 54, 10, 55, 8, 10, 8, 9, 10, 16, 17, 10, 22, 2, 10, 9, 16, 10, 17, 23, 10, 23, 22, 38, 34, 37, 38, 35, 34, 38, 36, 35, 30, 14, 13, 30, 50, 49, 30, 49, 14, 30, 29, 56, 30, 56, 50, 6, 27, 5, 6, 28, 27, 6, 39, 24, 6, 40, 39, 6, 5, 40, 6, 46, 7, 6, 44, 46, 6, 24, 44, 26, 59, 57, 26, 7, 31, 26, 28, 6, 26, 31, 59, 26, 6, 7, 26, 25, 27, 26, 27, 28, 58, 4, 29, 58, 18, 4, 58, 26, 57, 58, 29, 30, 58, 19, 18, 58, 13, 25, 58, 15, 19, 58, 33, 15, 58, 30, 13, 58, 25, 26, 58, 59, 31, 58, 31, 32, 58, 32, 33, 51, 56, 55, 51, 53, 52, 51, 55, 54, 51, 50, 56, 51, 54, 53, 51, 49, 50, 51, 5, 14, 51, 14, 49, 51, 40, 5, 51, 41, 40, 0, 53, 54, 0, 11, 1, 0, 54, 11, 0, 52, 53, 0, 12, 52, 21, 23, 17, 21, 17, 19, 21, 19, 15, 3, 1, 11, 3, 10, 2, 3, 11, 10, 3, 2, 22, 3, 22, 36, 3, 36, 38, 48, 47, 45, 48, 46, 44, 48, 45, 46, 48, 24, 39, 48, 44, 24, 48, 39, 43, 42, 41, 51, 42, 52, 12, 42, 51, 52, 42, 37, 47, 42, 38, 37, 42, 1, 3, 42, 0, 1, 42, 47, 48, 42, 12, 0, 42, 3, 38, 42, 48, 43, 42, 39, 40, 42, 40, 41, 42, 43, 39, 20, 45, 34, 20, 31, 7, 20, 7, 46, 20, 46, 45, 20, 32, 31, 20, 34, 35, 20, 22, 23, 20, 35, 36, 20, 36, 22, 20, 23, 21, 20, 15, 33, 20, 33, 32, 20, 21, 15]
|
| 1741 |
+
normal3f[] normals = None
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| 1742 |
+
bool physics:collisionEnabled = 1
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| 1743 |
+
int physxConvexHullCollision:hullVertexLimit = 64
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| 1744 |
+
point3f[] points = [(-0.024028147, -0.057965387, -0.047511883), (-0.02353293, -0.057965387, -0.04821138), (0.00035014088, -0.043541875, -0.064003155), (0.011429628, -0.057965387, -0.05343898), (-0.04222974, 0.14853384, -0.02586346), (-0.044062562, 0.0032123586, 0.06409498), (0.044379383, 0.0029738208, 0.06409498), (0.058237735, -0.0024970083, 0.0541072), (-0.057286583, -0.0020832366, -0.05454312), (-0.044127174, 0.0033908458, -0.064003155), (-0.028805012, -0.03839686, -0.064003155), (-0.031192148, -0.040226925, -0.06209565), (-0.024028208, -0.057965387, 0.047607206), (-0.041195095, 0.14853384, 0.026991129), (-0.05653137, -0.0016235175, 0.05521116), (0.04004867, 0.14853384, -0.027038736), (-0.04009924, 0.01564743, -0.064003155), (0.038436666, 0.02049061, -0.064003155), (-0.017143931, 0.14853384, -0.046752848), (0.015899682, 0.14853384, -0.04702022), (0.058237735, -0.0076369033, -0.052785534), (0.05649753, -0.001818813, -0.05526718), (0.032585353, -0.027901582, -0.064003155), (0.04435173, 0.0029023977, -0.064003155), (0.031968646, -0.029515015, 0.06409498), (-0.016482005, 0.14853384, 0.04720065), (0.016336551, 0.14853384, 0.046747327), (-0.03781466, 0.02203409, 0.06409498), (0.040753115, 0.013763731, 0.06409498), (-0.047423415, 0.14853384, -0.0023266468), (-0.04742342, 0.14853384, 0.0058447374), (0.058237735, 0.0045802523, 0.052130766), (0.058237735, 0.0045804074, -0.046163592), (0.046497, 0.14853384, -0.0061577694), (0.058237735, -0.023477446, -0.04792627), (0.058237735, -0.022565447, -0.049214326), (0.03859011, -0.035396453, -0.058449622), (0.024258403, -0.057965387, -0.04652985), (0.021093007, -0.057965387, -0.050937302), (0.00023770987, -0.043556944, 0.06409498), (-0.029139645, -0.037484992, 0.06409498), (-0.03198475, -0.039678562, 0.061818548), (-0.023551796, -0.057965387, 0.04827935), (0.008405298, -0.057965387, 0.053684898), (0.03780009, -0.03590283, 0.058914784), (0.058237735, -0.023477476, 0.04798976), (0.058237735, -0.022539385, 0.049312405), (0.024258433, -0.057965387, 0.046654575), (0.021637145, -0.057965387, 0.05030273), (-0.05823778, -0.007818167, 0.052729867), (-0.05823778, 0.0044800723, 0.046153948), (-0.05823778, -0.02190048, 0.049508873), (-0.05823778, -0.023694813, 0.04701298), (-0.05823778, -0.023694754, -0.046916593), (-0.05823778, -0.021898618, -0.049417928), (-0.05823778, -0.0063454905, -0.052975014), (-0.05823778, 0.004479896, -0.046009418), (0.041632675, 0.14853384, 0.025727516), (0.046497, 0.14853384, -0.00011148063), (0.053522855, 0.06238954, 0.039904475)]
|
| 1745 |
+
uniform token subdivisionScheme = "none"
|
| 1746 |
}
|
| 1747 |
}
|
| 1748 |
}
|
|
|
|
| 1790 |
{
|
| 1791 |
over "arm_l_link3_convex_0"
|
| 1792 |
{
|
| 1793 |
+
over "mesh" (
|
| 1794 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 1795 |
+
)
|
| 1796 |
{
|
| 1797 |
+
float3[] extent = [(-0.046742883, -0.046754844, 0.143), (0.06887351, 0.046754844, 0.33787674)]
|
| 1798 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 1799 |
+
int[] faceVertexIndices = [41, 40, 42, 35, 10, 11, 35, 11, 34, 3, 11, 10, 3, 5, 11, 13, 45, 43, 13, 12, 45, 47, 43, 45, 47, 44, 43, 47, 45, 46, 6, 3, 4, 6, 5, 3, 40, 23, 20, 40, 20, 42, 40, 14, 15, 40, 25, 23, 40, 15, 25, 1, 28, 29, 1, 29, 0, 1, 0, 2, 1, 12, 13, 1, 13, 28, 1, 46, 45, 1, 45, 12, 48, 21, 36, 48, 51, 19, 48, 49, 51, 48, 19, 21, 24, 20, 23, 24, 36, 21, 24, 21, 20, 24, 37, 36, 24, 22, 37, 24, 26, 27, 24, 23, 25, 24, 25, 26, 17, 8, 26, 17, 26, 25, 17, 25, 15, 17, 14, 16, 17, 15, 14, 18, 19, 51, 18, 51, 50, 18, 50, 6, 18, 6, 4, 9, 16, 7, 9, 17, 16, 9, 8, 17, 9, 2, 0, 9, 7, 2, 52, 34, 11, 52, 11, 5, 52, 5, 6, 52, 6, 50, 39, 43, 44, 39, 13, 43, 39, 28, 13, 39, 44, 57, 39, 31, 28, 39, 58, 53, 39, 57, 58, 41, 20, 21, 41, 42, 20, 41, 21, 19, 41, 19, 18, 41, 10, 35, 41, 3, 10, 41, 16, 14, 41, 47, 46, 41, 46, 1, 41, 4, 3, 41, 14, 40, 41, 35, 47, 41, 7, 16, 41, 1, 2, 41, 2, 7, 41, 18, 4, 38, 31, 39, 38, 32, 31, 33, 37, 22, 33, 38, 37, 33, 32, 38, 55, 35, 34, 55, 44, 47, 55, 47, 35, 55, 57, 44, 55, 34, 52, 55, 51, 49, 55, 50, 51, 55, 52, 50, 55, 49, 56, 59, 58, 57, 59, 55, 56, 59, 57, 55, 30, 0, 29, 30, 9, 0, 30, 27, 26, 30, 26, 8, 30, 8, 9, 30, 29, 28, 30, 28, 31, 30, 31, 32, 30, 32, 33, 30, 22, 24, 30, 24, 27, 30, 33, 22, 54, 36, 37, 54, 48, 36, 54, 37, 38, 54, 39, 53, 54, 38, 39, 54, 49, 48, 54, 56, 49, 54, 59, 56, 54, 53, 58, 54, 58, 59]
|
| 1800 |
+
normal3f[] normals = None
|
| 1801 |
+
bool physics:collisionEnabled = 1
|
| 1802 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 1803 |
+
point3f[] points = [(-0.04415097, -0.023565933, 0.16831948), (-0.02861961, -0.03796081, 0.143), (-0.03581454, -0.031804375, 0.143), (0.04585769, 0.015437063, 0.143), (0.027719472, 0.039297473, 0.143), (0.06887351, 0.0279873, 0.28280723), (0.06887351, 0.028500559, 0.28448275), (-0.046742883, -0.008183153, 0.143), (-0.046742883, 0.0012948164, 0.21111988), (-0.046742883, -0.015644569, 0.162316), (0.04585769, -0.015437286, 0.143), (0.06887351, -0.027911324, 0.28280723), (-0.02154679, -0.0433719, 0.15768081), (-0.026794016, -0.032851193, 0.29583558), (-0.03238264, 0.035128657, 0.143), (-0.04115845, 0.027383141, 0.16452104), (-0.046742883, 0.011261737, 0.143), (-0.046742883, 0.013783335, 0.15093383), (0.008025935, 0.046754844, 0.143), (0.012213946, 0.046754844, 0.18987234), (-0.014415042, 0.046754844, 0.19108), (-0.00500655, 0.046754844, 0.20319523), (-0.019438585, 0.028663887, 0.32209423), (-0.030268675, 0.029443296, 0.3022253), (-0.029215118, 0.029038236, 0.3066602), (-0.03117071, 0.02891178, 0.2986758), (-0.042937607, 0.0028011147, 0.2577796), (-0.03385856, -0.01734991, 0.3006943), (-0.028323907, -0.030985557, 0.3085854), (-0.030191848, -0.029476747, 0.3065347), (-0.030460624, -0.028492492, 0.30638126), (-0.012197179, -0.028937783, 0.32907277), (-0.013669329, -0.01905014, 0.32906252), (-0.017937792, -0.009139361, 0.32556963), (0.06887351, -0.02869785, 0.2853794), (0.025922874, -0.041661076, 0.143), (0.007475994, 0.031147603, 0.33787674), (0.0044433973, 0.03063375, 0.33787674), (0.0038964003, 0.025068386, 0.33787674), (0.011783213, -0.028929424, 0.33787674), (-0.028794395, 0.03789149, 0.143), (-0.0065490394, 0.046754844, 0.143), (-0.016005134, 0.046754844, 0.16442321), (-0.0017884787, -0.046754844, 0.20577835), (0.002963626, -0.046754844, 0.20751119), (-0.011755768, -0.046754844, 0.1547472), (-0.006548241, -0.046754844, 0.143), (0.006220972, -0.046754844, 0.143), (0.031871594, 0.029106772, 0.33787674), (0.05705673, 0.028831847, 0.32093444), (0.06887351, 0.028910348, 0.2965945), (0.06617765, 0.030114584, 0.30201492), (0.06887351, -0.028470265, 0.30281293), (0.023470622, -0.02952689, 0.33787674), (0.032098055, 0.026341172, 0.33787674), (0.06756527, -0.028772905, 0.30553946), (0.05829428, -0.003380903, 0.3218772), (0.05098265, -0.032813102, 0.32446817), (0.046759237, -0.03186361, 0.3297009), (0.04840204, -0.022877458, 0.3296127)]
|
| 1804 |
+
uniform token subdivisionScheme = "none"
|
| 1805 |
}
|
| 1806 |
}
|
| 1807 |
}
|
|
|
|
| 1837 |
{
|
| 1838 |
over "arm_l_link4_convex_0"
|
| 1839 |
{
|
| 1840 |
+
over "mesh" (
|
| 1841 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 1842 |
+
)
|
| 1843 |
{
|
| 1844 |
+
float3[] extent = [(-0.0595, -0.05095392, -0.0585), (0.050961077, 0.1175, 0.0585)]
|
| 1845 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 1846 |
+
int[] faceVertexIndices = [46, 50, 24, 46, 48, 50, 46, 24, 43, 56, 59, 58, 56, 57, 59, 25, 57, 55, 25, 59, 57, 25, 55, 52, 47, 50, 48, 47, 49, 50, 10, 8, 11, 10, 23, 58, 10, 58, 59, 10, 0, 23, 10, 25, 8, 10, 59, 25, 22, 2, 1, 22, 23, 0, 22, 0, 2, 22, 1, 3, 22, 20, 38, 22, 38, 39, 22, 3, 20, 22, 58, 23, 22, 56, 58, 22, 41, 56, 22, 39, 41, 5, 54, 45, 5, 45, 44, 5, 53, 54, 51, 55, 54, 51, 52, 55, 51, 54, 53, 51, 4, 9, 51, 5, 4, 51, 53, 5, 42, 46, 43, 42, 44, 45, 42, 45, 46, 42, 16, 4, 42, 5, 44, 42, 4, 5, 33, 24, 15, 33, 43, 24, 33, 15, 31, 33, 42, 43, 33, 16, 42, 27, 11, 8, 27, 6, 12, 27, 29, 6, 27, 12, 11, 30, 28, 32, 30, 6, 29, 30, 29, 28, 30, 7, 6, 30, 32, 33, 30, 33, 31, 19, 18, 13, 19, 6, 7, 19, 12, 6, 19, 13, 12, 19, 15, 17, 19, 31, 15, 19, 7, 30, 19, 30, 31, 40, 45, 54, 40, 55, 57, 40, 46, 45, 40, 57, 56, 40, 48, 46, 40, 54, 55, 40, 56, 41, 40, 47, 48, 40, 21, 49, 40, 38, 20, 40, 20, 21, 40, 49, 47, 40, 39, 38, 40, 41, 39, 14, 10, 11, 14, 12, 13, 14, 11, 12, 14, 2, 0, 14, 0, 10, 26, 32, 28, 26, 9, 4, 26, 33, 32, 26, 4, 16, 26, 16, 33, 26, 25, 52, 26, 52, 51, 26, 8, 25, 26, 51, 9, 26, 27, 8, 26, 28, 29, 26, 29, 27, 36, 20, 3, 36, 21, 20, 36, 34, 21, 36, 13, 18, 36, 3, 1, 36, 1, 2, 36, 18, 37, 36, 14, 13, 36, 2, 14, 35, 17, 15, 35, 15, 24, 35, 24, 50, 35, 50, 49, 35, 49, 21, 35, 21, 34, 35, 18, 19, 35, 19, 17, 35, 37, 18, 35, 34, 36, 35, 36, 37]
|
| 1847 |
+
normal3f[] normals = None
|
| 1848 |
+
bool physics:collisionEnabled = 1
|
| 1849 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 1850 |
+
point3f[] points = [(0.03487144, -0.026292898, 0.0585), (0.050961077, -0.021914516, 0.04226971), (0.050061602, -0.022762634, 0.04302824), (0.050961077, -0.02195641, -0.04232617), (-0.054928254, -0.007022533, 0.0034721498), (-0.0595, 0.07095614, -0.00063976715), (-0.017141392, -0.05095392, 0.04318484), (-0.013109449, -0.05095392, -0.044416692), (-0.026075551, -0.033907223, 0.0585), (-0.049858324, -0.015696723, 0.047849976), (0.03041182, -0.030685727, 0.0585), (-0.0009100477, -0.041296165, 0.0585), (0.0021051557, -0.05095392, 0.049185243), (0.020176066, -0.05095392, 0.04384575), (0.021666065, -0.04954798, 0.044631805), (-0.026022887, -0.034024693, -0.0585), (-0.049815558, -0.015726129, -0.04787015), (-0.0008065979, -0.041268308, -0.0585), (0.020222088, -0.05095392, -0.043818407), (0.0022813703, -0.05095392, -0.049126666), (0.050961077, 0.0061542233, -0.049091876), (0.04240177, 0.0069664456, -0.0585), (0.050961077, 0.0064453133, 0.049264155), (0.04238964, 0.006502901, 0.0585), (-0.039789032, -0.0033194504, -0.0585), (-0.039830696, -0.0032265263, 0.0585), (-0.047845736, -0.019132206, 0.048172068), (-0.030277163, -0.03596396, 0.0550062), (-0.035628296, -0.039981492, 0.03732673), (-0.026715212, -0.045430843, 0.046064567), (-0.02785641, -0.0421974, -0.0492323), (-0.03010562, -0.03604487, -0.055098437), (-0.037431024, -0.036869574, -0.039083626), (-0.04781099, -0.019147621, -0.04819105), (0.034990847, -0.026175283, -0.0585), (0.030400703, -0.030696677, -0.0585), (0.050212197, -0.022663161, -0.04296211), (0.021651447, -0.049605947, -0.044572845), (0.050961077, 0.006941214, -0.048627473), (0.050961077, 0.0071191816, 0.04888153), (0.023371814, 0.1175, -0.015256862), (0.023386069, 0.1175, 0.01602428), (-0.049928386, -0.012794164, -0.04868955), (-0.046487737, -0.0033577878, -0.053920507), (-0.0595, 0.08982799, -0.014087923), (-0.0595, 0.1175, -0.009782842), (-0.050060324, 0.1175, -0.028162114), (0.0019655952, 0.1175, -0.039984584), (-0.029269215, 0.1175, -0.04239866), (0.03963101, 0.01239041, -0.0585), (-0.028126895, 0.03808037, -0.0585), (-0.049933515, -0.012432271, 0.04879669), (-0.046084233, -0.0036713697, 0.054099787), (-0.0595, 0.09915409, 0.013791533), (-0.0595, 0.1175, 0.010789051), (-0.049405657, 0.1175, 0.02845588), (0.0010078086, 0.1175, 0.04022253), (-0.030107047, 0.1175, 0.0422986), (0.03866486, 0.013596362, 0.0585), (-0.02926574, 0.036248792, 0.0585)]
|
| 1851 |
+
uniform token subdivisionScheme = "none"
|
| 1852 |
}
|
| 1853 |
}
|
| 1854 |
}
|
|
|
|
| 1888 |
{
|
| 1889 |
over "arm_l_link5_convex_0"
|
| 1890 |
{
|
| 1891 |
+
over "mesh" (
|
| 1892 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 1893 |
+
)
|
| 1894 |
{
|
| 1895 |
+
float3[] extent = [(-0.043000005, -0.056999926, 0.111499995), (0.043000005, 0.056999926, 0.33281356)]
|
| 1896 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 1897 |
+
int[] faceVertexIndices = [10, 5, 3, 10, 3, 34, 10, 34, 35, 12, 39, 37, 12, 11, 9, 12, 35, 39, 12, 9, 10, 12, 10, 35, 1, 5, 10, 1, 4, 5, 1, 10, 9, 1, 2, 4, 50, 21, 3, 50, 3, 5, 50, 4, 52, 50, 5, 4, 18, 20, 19, 18, 19, 15, 18, 15, 16, 18, 16, 17, 18, 9, 11, 18, 11, 6, 18, 1, 9, 18, 17, 1, 18, 8, 20, 18, 6, 8, 28, 11, 12, 28, 6, 11, 28, 27, 7, 28, 7, 8, 28, 8, 6, 36, 12, 37, 36, 25, 28, 36, 28, 12, 0, 17, 16, 0, 1, 17, 0, 2, 1, 0, 52, 4, 0, 4, 2, 0, 53, 52, 33, 25, 26, 33, 32, 27, 33, 27, 28, 33, 28, 25, 29, 7, 27, 29, 27, 32, 22, 24, 49, 22, 49, 48, 47, 21, 50, 47, 50, 51, 47, 51, 22, 47, 22, 48, 59, 31, 57, 59, 23, 30, 59, 24, 23, 59, 49, 24, 59, 30, 31, 59, 48, 49, 59, 58, 47, 59, 47, 48, 56, 57, 31, 56, 33, 26, 56, 31, 33, 56, 59, 57, 56, 58, 59, 38, 3, 21, 38, 34, 3, 38, 26, 25, 38, 25, 36, 38, 21, 47, 38, 56, 26, 38, 47, 58, 38, 58, 56, 38, 39, 35, 38, 35, 34, 38, 37, 39, 38, 36, 37, 41, 16, 15, 41, 15, 13, 41, 0, 16, 41, 53, 0, 41, 54, 53, 55, 50, 52, 55, 52, 53, 55, 51, 50, 55, 53, 54, 55, 54, 41, 55, 41, 40, 55, 40, 42, 55, 23, 24, 55, 22, 51, 55, 24, 22, 55, 42, 23, 14, 43, 40, 14, 41, 13, 14, 40, 41, 14, 44, 43, 14, 15, 19, 14, 13, 15, 45, 30, 23, 45, 23, 42, 45, 40, 43, 45, 42, 40, 46, 19, 20, 46, 7, 29, 46, 8, 7, 46, 20, 8, 46, 14, 19, 46, 44, 14, 46, 31, 30, 46, 33, 31, 46, 32, 33, 46, 29, 32, 46, 30, 45, 46, 43, 44, 46, 45, 43]
|
| 1898 |
+
normal3f[] normals = None
|
| 1899 |
+
bool physics:collisionEnabled = 1
|
| 1900 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 1901 |
+
point3f[] points = [(-0.018460374, 0.056999926, 0.32112184), (-0.025534404, 0.052478995, 0.31233367), (-0.019677863, 0.056999926, 0.31909037), (-0.013125713, 0.040417857, 0.111499995), (-0.019840777, 0.056999926, 0.22757943), (-0.024365906, 0.05353234, 0.20379108), (-0.025765821, -0.05049663, 0.3137284), (-0.017644554, -0.056999926, 0.32260832), (-0.01767242, -0.056972362, 0.3226994), (-0.043000005, 0.0390692, 0.23939185), (-0.043000005, 0.039120838, 0.20189416), (-0.043000005, -0.039015967, 0.24118541), (-0.043000005, -0.04043955, 0.20823534), (0.008352401, 0.049505606, 0.33281356), (0.009214862, -0.04947253, 0.33281356), (-0.008233951, 0.05144941, 0.33281356), (-0.015999626, 0.05458316, 0.32683972), (-0.023467073, 0.04437236, 0.32119015), (-0.023864487, -0.041869286, 0.32150432), (-0.009204282, -0.05219931, 0.33281356), (-0.014798225, -0.054513417, 0.32854316), (0.012616832, 0.040720567, 0.111499995), (0.03591508, 0.046530567, 0.21086474), (0.043000005, 0.037703462, 0.25011754), (0.043000005, 0.03821063, 0.24099302), (-0.013405674, -0.040424995, 0.111499995), (0.012453334, -0.04070722, 0.111499995), (-0.022487158, -0.056999926, 0.2275575), (-0.025717413, -0.054885782, 0.21308766), (0.018977681, -0.056999926, 0.3070277), (0.043000005, -0.03764739, 0.2517193), (0.043000005, -0.040228322, 0.20563675), (0.023951652, -0.056999926, 0.22402975), (0.025184331, -0.056174815, 0.21819302), (-0.030576836, 0.027335893, 0.111499995), (-0.043000005, 0.023430271, 0.13466738), (-0.030655297, -0.027147513, 0.111499995), (-0.043000005, -0.023038803, 0.13438866), (-0.041899957, -5.195908e-7, 0.111499995), (-0.043000005, 0.0000035392552, 0.113862164), (0.023012279, 0.045078043, 0.3214779), (0.01774876, 0.051120143, 0.3255178), (0.024834804, 0.051144764, 0.31482783), (0.023467679, -0.04293808, 0.3217194), (0.018545967, -0.050605785, 0.32558694), (0.026002506, -0.050111428, 0.31280217), (0.022639656, -0.053025104, 0.31689265), (0.030452447, 0.027638268, 0.111499995), (0.03352329, 0.02672421, 0.11730757), (0.043000005, 0.0049285004, 0.11827534), (0.021102646, 0.051262863, 0.18425423), (0.034060445, 0.048196442, 0.21219042), (0.0027219844, 0.056999926, 0.22573093), (0.0081633115, 0.056999926, 0.31273967), (0.021659452, 0.053401086, 0.31815884), (0.022603333, 0.053121667, 0.31691685), (0.030505572, -0.02750385, 0.111499995), (0.043000005, -0.02374728, 0.134673), (0.041899323, 0.0000030806782, 0.111499995), (0.043000005, -0.0000209496, 0.11385287)]
|
| 1902 |
+
uniform token subdivisionScheme = "none"
|
| 1903 |
}
|
| 1904 |
}
|
| 1905 |
}
|
|
|
|
| 1939 |
{
|
| 1940 |
over "arm_l_link6_convex_0"
|
| 1941 |
{
|
| 1942 |
+
over "mesh" (
|
| 1943 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 1944 |
+
)
|
| 1945 |
{
|
| 1946 |
+
float3[] extent = [(-0.032999463, -0.039, -0.0485), (0.030499998, 0.039, 0.0478)]
|
| 1947 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 1948 |
+
int[] faceVertexIndices = [23, 21, 22, 11, 9, 0, 40, 43, 42, 40, 41, 43, 6, 22, 24, 6, 5, 23, 6, 24, 25, 6, 23, 22, 11, 14, 8, 11, 10, 16, 11, 16, 14, 11, 8, 9, 11, 0, 29, 11, 40, 10, 11, 29, 41, 11, 41, 40, 39, 47, 46, 39, 2, 26, 39, 24, 22, 39, 0, 9, 39, 29, 0, 39, 1, 2, 39, 59, 58, 39, 36, 47, 39, 58, 30, 39, 8, 1, 39, 21, 36, 39, 22, 21, 39, 26, 24, 39, 9, 8, 39, 46, 45, 39, 30, 38, 39, 45, 59, 39, 41, 29, 39, 43, 41, 52, 42, 43, 52, 39, 38, 52, 38, 53, 52, 43, 39, 31, 53, 38, 31, 38, 30, 31, 55, 53, 31, 30, 58, 31, 58, 56, 37, 36, 21, 37, 23, 5, 37, 21, 23, 37, 47, 36, 37, 50, 47, 49, 46, 47, 49, 48, 46, 49, 47, 50, 20, 15, 16, 20, 40, 42, 20, 5, 6, 20, 32, 33, 20, 49, 50, 20, 16, 10, 20, 10, 40, 20, 42, 52, 20, 37, 5, 20, 6, 19, 20, 52, 51, 20, 51, 32, 20, 50, 37, 20, 33, 49, 13, 15, 20, 13, 20, 18, 57, 58, 59, 57, 56, 58, 57, 59, 45, 57, 45, 44, 7, 45, 46, 7, 46, 48, 7, 44, 45, 7, 49, 33, 7, 33, 35, 7, 48, 49, 54, 53, 55, 54, 51, 52, 54, 52, 53, 12, 1, 8, 12, 3, 1, 12, 8, 14, 12, 16, 15, 12, 14, 16, 12, 15, 13, 4, 2, 1, 4, 1, 3, 4, 26, 2, 4, 27, 26, 28, 25, 24, 28, 24, 26, 28, 26, 27, 34, 55, 31, 34, 31, 56, 34, 44, 7, 34, 56, 57, 34, 57, 44, 34, 7, 35, 34, 54, 55, 34, 33, 32, 34, 35, 33, 34, 32, 51, 34, 51, 54, 17, 6, 25, 17, 19, 6, 17, 25, 28, 17, 13, 18, 17, 3, 12, 17, 4, 3, 17, 12, 13, 17, 27, 4, 17, 28, 27, 17, 20, 19, 17, 18, 20]
|
| 1949 |
+
normal3f[] normals = None
|
| 1950 |
+
bool physics:collisionEnabled = 1
|
| 1951 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 1952 |
+
point3f[] points = [(-0.032999463, 0.039, -0.0021675734), (-0.032999463, 0.022358077, -0.03074089), (-0.032999463, 0.0029429954, -0.0392924), (-0.02622346, 0.0034836978, -0.0485), (-0.02726028, 0.00020227215, -0.0485), (0.030499998, -0.039, -0.009832573), (0.030499998, -0.0306733, -0.025254827), (0.002755275, -0.011036381, 0.0478), (-0.032999463, 0.03161797, -0.022548085), (-0.032999463, 0.03372868, -0.019260049), (0.030499998, 0.039, -0.011420101), (0.029962499, 0.039, -0.011416955), (-0.023362737, 0.0039893906, -0.0485), (-0.0056069675, 0.0038523108, -0.0485), (-0.020663107, 0.02885848, -0.026918989), (0.030499998, 0.019130178, -0.035011508), (0.030499998, 0.02978783, -0.025770707), (-0.005337388, -0.0034316108, -0.0485), (-0.0012322649, -0.00011699463, -0.0485), (0.030499998, -0.018968923, -0.03485093), (0.030499998, -0.00049278466, -0.0405213), (-0.032999463, -0.039, -0.0011830108), (-0.032999463, -0.03438135, -0.017921597), (0.020085962, -0.039, -0.009756248), (-0.032999463, -0.03221717, -0.021929964), (-0.00035839272, -0.029694755, -0.026841076), (-0.032999463, -0.0201485, -0.0329506), (-0.02664652, -0.0036762024, -0.0485), (-0.023137689, -0.0039831856, -0.0485), (-0.032999463, 0.039, 0.0027943891), (-0.032999463, 0.021161333, 0.03190346), (-0.0044931085, 0.009309314, 0.0478), (0.030499998, 0.0069201514, 0.03881438), (0.030499998, -0.007479892, 0.03881438), (0.009904323, 0.0039541502, 0.0478), (0.009904323, -0.0042712255, 0.0478), (-0.032999463, -0.039, 0.0021675734), (0.030499998, -0.039, 0.011495916), (-0.032999463, 0.03178639, 0.02219063), (-0.032999463, 0.033349533, 0.019897308), (0.030499998, 0.039, 0.0061086416), (-0.013062112, 0.039, 0.0056328014), (0.030499998, 0.035375174, 0.017325722), (-0.011134223, 0.035256993, 0.017236661), (-0.005266767, -0.008886879, 0.0478), (-0.032999463, -0.01951845, 0.032894656), (-0.032999463, -0.030486744, 0.02384353), (-0.032999463, -0.03353685, 0.019882068), (0.0045720385, -0.013557228, 0.04612149), (0.030499998, -0.024536058, 0.03206235), (0.030499998, -0.038083866, 0.014466521), (0.030499998, 0.021684024, 0.033435795), (0.030499998, 0.030223282, 0.024884187), (-0.0049011246, 0.023083527, 0.035135936), (0.004533858, 0.0096123, 0.0478), (-0.000614621, 0.010062733, 0.0478), (-0.009324807, 0.0049655163, 0.0478), (-0.010429959, -0.0033517398, 0.0478), (-0.032999463, 0.008899364, 0.0371042), (-0.032999463, -0.0057841195, 0.037966616)]
|
| 1953 |
+
uniform token subdivisionScheme = "none"
|
| 1954 |
}
|
| 1955 |
}
|
| 1956 |
}
|
|
|
|
| 1986 |
{
|
| 1987 |
over "arm_l_link7_convex_0"
|
| 1988 |
{
|
| 1989 |
+
over "mesh" (
|
| 1990 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 1991 |
+
)
|
| 1992 |
{
|
| 1993 |
+
float3[] extent = [(-0.038822327, -0.039506685, -0.05), (0.0885, 0.039506685, 0.051000003)]
|
| 1994 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 1995 |
+
int[] faceVertexIndices = [12, 11, 10, 12, 13, 11, 49, 26, 37, 49, 51, 26, 49, 37, 35, 49, 35, 30, 50, 51, 49, 50, 49, 48, 17, 11, 13, 17, 15, 9, 17, 8, 11, 17, 9, 8, 14, 15, 17, 14, 17, 16, 21, 13, 12, 21, 7, 6, 21, 1, 22, 21, 12, 7, 21, 17, 13, 21, 6, 1, 21, 16, 17, 40, 44, 41, 40, 29, 45, 40, 45, 44, 47, 30, 46, 47, 31, 48, 47, 49, 30, 47, 48, 49, 47, 44, 45, 47, 46, 44, 5, 10, 2, 5, 2, 3, 5, 7, 12, 5, 12, 10, 5, 6, 7, 5, 4, 6, 19, 29, 18, 19, 31, 47, 19, 45, 29, 19, 47, 45, 19, 18, 0, 19, 1, 6, 19, 6, 4, 19, 0, 1, 27, 32, 38, 27, 2, 10, 27, 38, 37, 27, 11, 8, 27, 10, 11, 27, 37, 26, 27, 8, 33, 27, 33, 32, 34, 32, 33, 34, 59, 32, 34, 58, 59, 34, 9, 15, 34, 20, 43, 34, 14, 20, 34, 56, 58, 34, 43, 56, 34, 15, 14, 34, 33, 8, 34, 8, 9, 53, 41, 52, 53, 40, 41, 53, 39, 40, 57, 59, 58, 57, 58, 56, 36, 38, 32, 36, 32, 59, 36, 59, 57, 36, 57, 42, 36, 37, 38, 36, 35, 37, 54, 41, 44, 54, 52, 41, 54, 30, 35, 54, 46, 30, 54, 44, 46, 54, 35, 36, 54, 36, 42, 28, 48, 31, 28, 5, 3, 28, 31, 19, 28, 50, 48, 28, 4, 5, 28, 19, 4, 28, 26, 51, 28, 51, 50, 28, 27, 26, 28, 3, 2, 28, 2, 27, 55, 56, 43, 55, 57, 56, 55, 42, 57, 55, 54, 42, 55, 53, 52, 55, 52, 54, 23, 0, 18, 23, 18, 29, 23, 29, 40, 23, 40, 39, 23, 39, 24, 23, 22, 1, 23, 1, 0, 25, 20, 14, 25, 14, 16, 25, 16, 21, 25, 43, 20, 25, 39, 53, 25, 24, 39, 25, 55, 43, 25, 53, 55, 25, 21, 22, 25, 22, 23, 25, 23, 24]
|
| 1996 |
+
normal3f[] normals = None
|
| 1997 |
+
bool physics:collisionEnabled = 1
|
| 1998 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 1999 |
+
point3f[] points = [(-0.038822327, 0.014009958, 0.043185793), (-0.020602804, 0.027420143, 0.051000003), (0.0885, 0.027851636, 0.025034422), (0.07965377, 0.039506685, 0.018594775), (-0.015665557, 0.039506685, 0.036138922), (0.0064905365, 0.039506685, 0.04375739), (-0.017919322, 0.029968247, 0.051000003), (-0.00059904554, 0.033601366, 0.051000003), (0.0885, -0.027851637, 0.025034416), (0.07965376, -0.039506685, 0.018594783), (0.0885, 0.01178241, 0.038107704), (0.0885, -0.011915491, 0.03799943), (0.019097691, 0.025274768, 0.051000003), (0.017835226, -0.02580857, 0.051000003), (-0.015664805, -0.039506685, 0.03613914), (0.006490832, -0.039506685, 0.04375739), (-0.017918903, -0.02996832, 0.051000003), (-0.0005987568, -0.03360138, 0.051000003), (-0.038822327, 0.015180639, 0.04083425), (-0.016583111, 0.039506685, 0.03438881), (-0.016474234, -0.039506685, 0.03459526), (-0.027622025, -0.02075493, 0.051000003), (-0.032053415, -0.0037306715, 0.051000003), (-0.038822327, 0.003693941, 0.045415394), (-0.038822327, -0.015223898, 0.039729185), (-0.037943594, -0.016207127, 0.04044835), (0.0885, 0.027810706, -0.02514959), (0.0885, 0.036748882, 2.7755576e-17), (0.08589535, 0.039506685, 2.7755576e-17), (-0.038822327, 0.012954698, -0.02967675), (-0.0028749679, 0.033169176, -0.05), (-0.014804359, 0.039506685, -0.027759383), (0.0885, -0.027810391, -0.025150476), (0.0885, -0.036748882, 2.7755576e-17), (0.08589535, -0.039506685, 2.7755576e-17), (0.016963238, 0.0253742, -0.05), (0.016963238, -0.025358563, -0.05), (0.0885, 0.01287708, -0.037298992), (0.0885, -0.0128778545, -0.037298992), (-0.038822327, -0.012804991, -0.038653813), (-0.038822327, -0.0015755326, -0.0414096), (-0.03289202, 0.005755037, -0.05), (-0.0030721517, -0.033226423, -0.05), (-0.014728973, -0.039506685, -0.02725558), (-0.02875322, 0.018295797, -0.05), (-0.0319322, 0.020207087, -0.040678665), (-0.015970265, 0.030506516, -0.05), (-0.018395182, 0.035264686, -0.03667247), (-0.0021643261, 0.039506685, -0.034282237), (-0.00054309046, 0.034299288, -0.048335154), (0.085231684, 0.039506685, -0.0019771727), (0.085231684, 0.03215639, -0.022658896), (-0.027442375, -0.019676028, -0.05), (-0.035476428, -0.01637304, -0.04160993), (-0.016232293, -0.030320292, -0.05), (-0.018557677, -0.03503167, -0.03657879), (-0.0022716536, -0.039506685, -0.034321908), (-0.0009143144, -0.034316592, -0.048423685), (0.085231684, -0.039506685, -0.0019771727), (0.085231684, -0.03215638, -0.022658924)]
|
| 2000 |
+
uniform token subdivisionScheme = "none"
|
| 2001 |
}
|
| 2002 |
}
|
| 2003 |
}
|
|
|
|
| 2156 |
instanceable = false
|
| 2157 |
)
|
| 2158 |
{
|
| 2159 |
+
over "gripper_l_base_link_convex_0"
|
| 2160 |
+
{
|
| 2161 |
+
over "mesh" (
|
| 2162 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2163 |
+
)
|
| 2164 |
+
{
|
| 2165 |
+
float3[] extent = [(-0.02923458, -0.040161066, -0.0005001409), (0.029053038, 0.040197864, 0.08392755)]
|
| 2166 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2167 |
+
int[] faceVertexIndices = [19, 21, 20, 19, 17, 21, 19, 18, 17, 19, 9, 12, 19, 20, 9, 14, 9, 10, 14, 10, 11, 14, 12, 9, 14, 11, 13, 48, 36, 0, 48, 1, 58, 48, 55, 36, 48, 49, 1, 48, 58, 55, 39, 13, 11, 39, 0, 36, 39, 36, 37, 39, 40, 0, 39, 37, 13, 39, 11, 10, 39, 10, 43, 8, 2, 3, 8, 4, 7, 8, 3, 4, 8, 42, 2, 8, 38, 42, 24, 21, 15, 24, 20, 21, 24, 3, 2, 24, 10, 9, 24, 9, 20, 24, 2, 42, 24, 43, 10, 24, 42, 43, 24, 22, 3, 24, 26, 22, 24, 15, 16, 24, 16, 25, 52, 13, 37, 52, 54, 14, 52, 14, 13, 52, 37, 36, 52, 36, 55, 52, 55, 56, 41, 43, 42, 41, 40, 39, 41, 42, 38, 41, 39, 43, 41, 0, 40, 41, 48, 0, 41, 47, 48, 46, 7, 4, 46, 4, 31, 46, 31, 44, 46, 8, 7, 46, 41, 38, 46, 38, 8, 46, 47, 41, 32, 4, 3, 32, 31, 4, 32, 3, 22, 32, 22, 23, 45, 49, 48, 45, 48, 47, 45, 46, 44, 45, 47, 46, 45, 44, 31, 45, 31, 32, 45, 32, 30, 59, 55, 58, 59, 56, 55, 59, 57, 56, 33, 16, 35, 33, 25, 16, 33, 28, 25, 33, 6, 28, 33, 51, 57, 33, 59, 6, 33, 57, 59, 27, 25, 28, 27, 24, 25, 27, 26, 24, 27, 28, 29, 27, 23, 22, 27, 22, 26, 5, 32, 23, 5, 30, 32, 5, 23, 27, 5, 27, 29, 5, 58, 1, 5, 28, 6, 5, 29, 28, 5, 59, 58, 5, 6, 59, 5, 1, 49, 5, 45, 30, 5, 49, 45, 34, 15, 21, 34, 21, 17, 34, 16, 15, 34, 35, 16, 34, 50, 51, 34, 51, 33, 34, 33, 35, 53, 19, 12, 53, 18, 19, 53, 12, 14, 53, 14, 54, 53, 56, 57, 53, 52, 56, 53, 54, 52, 53, 57, 51, 53, 51, 50, 53, 17, 18, 53, 50, 34, 53, 34, 17]
|
| 2168 |
+
normal3f[] normals = None
|
| 2169 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2170 |
+
point3f[] points = [(-0.018505722, -0.02165171, 0.08392755), (0.018552564, -0.021801112, 0.08392755), (-0.012733625, -0.026867148, -0.0005001409), (0.0068511674, -0.028768366, -0.0005001409), (0.009445681, -0.040161066, 0.036595345), (0.02136972, -0.02877954, 0.07027447), (0.021552257, 0.028106451, 0.06947407), (-0.008238547, -0.040161066, 0.04231148), (-0.015390925, -0.037703164, 0.036439326), (-0.025906555, 0.014422271, -0.0005001409), (-0.02923458, 0.0045371577, -0.0005001409), (-0.02923458, 0.004914251, 0.032112252), (-0.018675284, 0.036389276, 0.04172339), (-0.021395287, 0.028639924, 0.07024281), (-0.020122984, 0.03236872, 0.065894626), (0.017225172, 0.022473095, -0.0005001409), (0.023839457, 0.020304404, 0.0038634283), (0.008504041, 0.040197864, 0.036519263), (-0.010338451, 0.040197864, 0.043283463), (-0.015382404, 0.03836125, 0.0389368), (-0.012104244, 0.026949076, -0.0005001409), (0.0057585957, 0.028861793, -0.0005001409), (0.01574422, -0.02328929, -0.0005001409), (0.024227321, -0.019333573, 0.003128499), (0.029053038, 0.0038280515, -0.0005001409), (0.029053038, 0.004428141, -0.00018304444), (0.029053038, -0.002842996, -0.0005001409), (0.029053038, -0.0050158654, 0.00036850484), (0.029053038, 0.00486481, 0.03311542), (0.029053038, -0.0054993015, 0.03310019), (0.02006826, -0.032559797, 0.065526396), (0.011272143, -0.040161066, 0.039808553), (0.018659584, -0.03638003, 0.042008437), (0.019598702, 0.033926494, 0.061163217), (0.009941088, 0.040197864, 0.038823064), (0.018766297, 0.036194347, 0.041451607), (-0.018561304, 0.02129665, 0.08392755), (-0.018639652, 0.021752598, 0.0835508), (-0.018979132, -0.03591364, 0.04127818), (-0.02923458, -0.0036287876, 0.032058686), (-0.020876251, -0.027592445, 0.072404966), (-0.018978605, -0.034281574, 0.06411406), (-0.027179405, -0.01256017, -0.0005001409), (-0.02923458, -0.005958156, -0.0005001409), (0.008067373, -0.040161066, 0.051078998), (0.014827417, -0.034861773, 0.06680075), (-0.0069458787, -0.040161066, 0.049587537), (-0.018286338, -0.034537327, 0.06443257), (-0.009037149, -0.027996523, 0.08392755), (0.0071554054, -0.02856293, 0.08392755), (0.007425646, 0.040197864, 0.04982389), (0.016063644, 0.035198446, 0.0635259), (-0.010705685, 0.030386282, 0.078638114), (-0.008231241, 0.040197864, 0.050682247), (-0.015507322, 0.034355044, 0.06764814), (-0.00075707916, 0.026640793, 0.08392755), (-0.00028946018, 0.028909111, 0.0822555), (0.012083243, 0.029829483, 0.07896753), (0.018565448, 0.020668287, 0.08392755), (0.018957252, 0.023279712, 0.08203398)]
|
| 2171 |
+
uniform token subdivisionScheme = "none"
|
| 2172 |
+
}
|
| 2173 |
+
}
|
| 2174 |
}
|
| 2175 |
}
|
| 2176 |
|
|
|
|
| 2649 |
{
|
| 2650 |
over "arm_r_link1_convex_0"
|
| 2651 |
{
|
| 2652 |
+
over "mesh" (
|
| 2653 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2654 |
+
)
|
| 2655 |
{
|
| 2656 |
+
float3[] extent = [(-0.056323268, -0.049215786, 0.0785), (0.05632175, 0.049207877, 0.23082179)]
|
| 2657 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2658 |
+
int[] faceVertexIndices = [40, 38, 39, 30, 29, 28, 40, 39, 14, 40, 14, 19, 40, 19, 18, 40, 18, 13, 47, 42, 41, 47, 41, 48, 47, 43, 42, 12, 31, 43, 12, 47, 44, 12, 43, 47, 15, 41, 42, 15, 42, 33, 15, 33, 0, 15, 0, 3, 45, 48, 46, 45, 47, 48, 45, 44, 47, 45, 19, 14, 45, 46, 19, 4, 3, 0, 4, 0, 1, 30, 21, 22, 30, 22, 10, 30, 7, 21, 30, 28, 7, 8, 21, 7, 8, 20, 21, 11, 35, 32, 11, 10, 35, 11, 30, 10, 11, 29, 30, 11, 32, 31, 11, 31, 12, 16, 48, 41, 16, 17, 18, 16, 46, 48, 16, 19, 46, 16, 18, 19, 16, 41, 15, 37, 0, 33, 37, 2, 1, 37, 1, 0, 37, 42, 43, 37, 31, 32, 37, 33, 42, 37, 43, 31, 37, 32, 35, 37, 35, 34, 37, 34, 36, 25, 24, 2, 25, 37, 36, 25, 2, 37, 5, 24, 56, 5, 1, 2, 5, 56, 58, 5, 58, 53, 5, 2, 24, 5, 4, 1, 5, 15, 3, 5, 3, 4, 5, 16, 15, 5, 6, 16, 5, 53, 54, 5, 54, 6, 9, 40, 13, 9, 38, 40, 9, 13, 51, 9, 51, 50, 52, 18, 17, 52, 13, 18, 52, 51, 13, 52, 53, 58, 52, 59, 49, 52, 50, 51, 52, 58, 59, 52, 49, 50, 52, 54, 53, 52, 16, 6, 52, 17, 16, 52, 6, 54, 23, 10, 22, 23, 35, 10, 23, 34, 35, 23, 22, 21, 23, 56, 24, 23, 57, 56, 23, 21, 20, 23, 24, 25, 23, 20, 57, 23, 36, 34, 23, 25, 36, 55, 58, 56, 55, 59, 58, 55, 56, 57, 55, 8, 27, 55, 20, 8, 55, 57, 20, 26, 39, 38, 26, 28, 29, 26, 29, 11, 26, 14, 39, 26, 45, 14, 26, 27, 8, 26, 7, 28, 26, 12, 44, 26, 44, 45, 26, 8, 7, 26, 11, 12, 26, 38, 9, 26, 49, 59, 26, 55, 27, 26, 59, 55, 26, 50, 49, 26, 9, 50]
|
| 2659 |
+
normal3f[] normals = None
|
| 2660 |
+
bool physics:collisionEnabled = 1
|
| 2661 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2662 |
+
point3f[] points = [(-0.011885626, 0.031347472, 0.23082179), (-0.017461007, -0.03141175, 0.23082179), (-0.028439803, -0.032208163, 0.2251574), (0.010625566, 0.031309463, 0.23082179), (0.016628116, -0.031254876, 0.23082179), (0.02600836, -0.031792182, 0.2264136), (0.04093603, 0.03139168, 0.21649507), (-0.042294547, -0.021049064, 0.0785), (-0.03396899, -0.030127458, 0.0785), (0.043589976, -0.018527564, 0.0785), (-0.056323268, -0.0033093933, 0.12876388), (-0.043721803, 0.019256277, 0.0785), (-0.03402004, 0.030106833, 0.0785), (0.05632175, -0.000055296256, 0.13022362), (0.043611262, 0.01849561, 0.0785), (0.03377811, 0.032719564, 0.2198173), (0.040929202, 0.031619187, 0.21648799), (0.05632175, 0.03127142, 0.18599357), (0.05632175, 0.03208522, 0.17659885), (0.05031484, 0.035978414, 0.14512208), (-0.021442, -0.046534795, 0.08630061), (-0.049331952, -0.036148284, 0.14315398), (-0.056323268, -0.032010023, 0.17593148), (-0.056323268, -0.030793382, 0.19061866), (-0.033809796, -0.03299314, 0.21938379), (-0.05190584, -0.030892346, 0.20027855), (0.035854112, -0.027746806, 0.0785), (0.0015499794, -0.04447804, 0.0785), (-0.0444654, -0.013571188, 0.0785), (-0.04600632, 0.00846502, 0.0785), (-0.053848095, -0.002680601, 0.11371833), (-0.021753315, 0.046648193, 0.08646505), (-0.05105659, 0.035644997, 0.14790764), (-0.032835167, 0.03282446, 0.21987484), (-0.056323268, 0.03140895, 0.18470171), (-0.056323268, 0.03209234, 0.17690964), (-0.042504296, 0.03140895, 0.21489114), (-0.042454086, 0.03141385, 0.21494494), (0.045298364, -0.0112563595, 0.0785), (0.045298364, 0.011275172, 0.0785), (0.053071786, -0.000042292035, 0.110173024), (0.0045555416, 0.049207877, 0.09498764), (-0.004439806, 0.049207877, 0.09510297), (-0.009186109, 0.049207877, 0.08473404), (-0.0015068691, 0.043242995, 0.0785), (0.03197395, 0.032364413, 0.0785), (0.022661418, 0.04644431, 0.0862986), (-0.0017184136, 0.049207877, 0.08265971), (0.008962269, 0.049207877, 0.085108034), (0.023037888, -0.04608766, 0.08655369), (0.050268173, -0.035734214, 0.14458059), (0.05632175, -0.031912267, 0.17635809), (0.05632175, -0.030683856, 0.19161156), (0.035517305, -0.032965176, 0.2171734), (0.050789054, -0.030952409, 0.20260815), (0.0017179572, -0.049215786, 0.08171061), (-0.0046620113, -0.049215786, 0.095168), (-0.008934499, -0.049215786, 0.08466958), (0.0048450404, -0.049215786, 0.09483576), (0.008998854, -0.049215786, 0.08407618)]
|
| 2663 |
+
uniform token subdivisionScheme = "none"
|
| 2664 |
}
|
| 2665 |
}
|
| 2666 |
}
|
|
|
|
| 2700 |
{
|
| 2701 |
over "arm_r_link2_convex_0"
|
| 2702 |
{
|
| 2703 |
+
over "mesh" (
|
| 2704 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2705 |
+
)
|
| 2706 |
{
|
| 2707 |
+
float3[] extent = [(-0.058237735, -0.057965387, -0.06409498), (0.05823778, 0.14853384, 0.064003155)]
|
| 2708 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2709 |
+
int[] faceVertexIndices = [50, 49, 51, 34, 13, 37, 34, 14, 13, 27, 28, 30, 27, 30, 29, 25, 26, 7, 25, 30, 28, 25, 7, 30, 4, 5, 31, 4, 51, 49, 4, 49, 27, 4, 27, 29, 4, 31, 51, 48, 59, 53, 48, 47, 59, 24, 46, 43, 24, 44, 46, 24, 43, 39, 50, 31, 32, 50, 51, 31, 50, 32, 33, 52, 26, 25, 52, 48, 53, 52, 25, 48, 56, 2, 45, 56, 45, 55, 18, 33, 8, 18, 25, 28, 18, 28, 27, 18, 47, 48, 18, 27, 49, 18, 6, 47, 18, 49, 50, 18, 48, 25, 18, 50, 33, 18, 19, 6, 17, 19, 18, 17, 18, 16, 10, 12, 16, 10, 18, 8, 10, 16, 18, 38, 35, 34, 38, 34, 37, 38, 36, 35, 38, 0, 11, 38, 11, 36, 38, 1, 0, 54, 7, 26, 54, 44, 24, 54, 24, 7, 54, 26, 52, 54, 46, 44, 54, 45, 46, 54, 55, 45, 57, 59, 58, 57, 53, 59, 57, 52, 53, 57, 55, 54, 57, 56, 55, 57, 54, 52, 57, 2, 56, 57, 3, 2, 57, 23, 3, 22, 0, 1, 22, 3, 23, 22, 1, 3, 20, 58, 59, 20, 59, 47, 20, 47, 6, 9, 11, 12, 9, 35, 36, 9, 36, 11, 9, 12, 10, 9, 8, 33, 9, 33, 32, 9, 10, 8, 42, 2, 3, 42, 43, 46, 42, 37, 13, 42, 46, 45, 42, 38, 37, 42, 45, 2, 42, 3, 1, 42, 1, 38, 40, 30, 7, 40, 29, 30, 40, 4, 29, 40, 7, 24, 40, 24, 39, 40, 39, 43, 40, 42, 41, 40, 43, 42, 15, 34, 35, 15, 35, 9, 15, 31, 5, 15, 32, 31, 15, 14, 34, 15, 9, 32, 15, 13, 14, 15, 42, 13, 15, 41, 42, 15, 5, 4, 15, 40, 41, 15, 4, 40, 21, 11, 0, 21, 16, 12, 21, 12, 11, 21, 17, 16, 21, 0, 22, 21, 6, 19, 21, 19, 17, 21, 20, 6, 21, 57, 58, 21, 23, 57, 21, 22, 23, 21, 58, 20]
|
| 2710 |
+
normal3f[] normals = None
|
| 2711 |
+
bool physics:collisionEnabled = 1
|
| 2712 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2713 |
+
point3f[] points = [(-0.0003502331, -0.04354187, 0.064003155), (-0.011429636, -0.057965387, 0.053439), (0.024028271, -0.057965387, 0.047511727), (0.023532934, -0.057965387, 0.048211392), (-0.044379376, 0.0029738126, -0.06409498), (-0.058237735, -0.0024970144, -0.054107197), (0.042229734, 0.14853384, 0.025863467), (0.04406253, 0.003212453, -0.06409498), (-0.040048677, 0.14853384, 0.027038742), (-0.058237735, -0.007636915, 0.052785527), (-0.056497518, -0.0018187907, 0.05526719), (-0.032585397, -0.027901523, 0.064003155), (-0.044351734, 0.0029023997, 0.064003155), (-0.024258552, -0.057965387, -0.0466544), (-0.058237735, -0.023477353, -0.04798995), (-0.058237735, -0.022539398, -0.0493124), (-0.03843694, 0.020489814, 0.064003155), (0.040098958, 0.015648281, 0.064003155), (-0.015899753, 0.14853384, 0.04702018), (0.017143868, 0.14853384, 0.046752896), (0.05728659, -0.0020832636, 0.054543115), (0.044127174, 0.0033908228, 0.064003155), (0.028804991, -0.038396824, 0.064003155), (0.031192176, -0.04022693, 0.06209561), (0.02913956, -0.03748504, -0.06409498), (0.041195083, 0.14853384, -0.026991133), (0.056531377, -0.0016235504, -0.055211164), (-0.016336547, 0.14853384, -0.04674733), (0.016482005, 0.14853384, -0.04720063), (-0.04075304, 0.013763934, -0.06409498), (0.037814725, 0.02203387, -0.06409498), (-0.058237735, 0.0045802454, -0.052130762), (-0.058237735, 0.004580395, 0.046163592), (-0.046497013, 0.14853384, 0.006157779), (-0.058237735, -0.023477325, 0.04792643), (-0.058237735, -0.022565441, 0.04921432), (-0.038590156, -0.035396405, 0.058449615), (-0.024258526, -0.057965387, 0.0465297), (-0.021093007, -0.057965387, 0.050937314), (-0.0002377283, -0.043556932, -0.06409498), (-0.031968642, -0.029515013, -0.06409498), (-0.037800085, -0.035902828, -0.058914788), (-0.021637132, -0.057965387, -0.050302733), (-0.008405353, -0.057965387, -0.053684883), (0.0319847, -0.03967862, -0.06181854), (0.02402833, -0.057965387, -0.04760703), (0.02355178, -0.057965387, -0.048279364), (0.0474234, 0.14853384, 0.0023266503), (0.047423404, 0.14853384, -0.0058447453), (-0.041632682, 0.14853384, -0.025727514), (-0.046497013, 0.14853384, 0.00011148521), (-0.05352291, 0.062388927, -0.0399046), (0.05823778, -0.007818196, -0.052729893), (0.05823778, 0.0044800835, -0.046153948), (0.05823778, -0.021900438, -0.04950894), (0.05823778, -0.023694688, -0.04701316), (0.05823778, -0.02369463, 0.046916742), (0.05823778, -0.021898601, 0.04941793), (0.05823778, -0.0063454835, 0.052975025), (0.05823778, 0.0044799037, 0.046009418)]
|
| 2714 |
+
uniform token subdivisionScheme = "none"
|
| 2715 |
}
|
| 2716 |
}
|
| 2717 |
}
|
|
|
|
| 2759 |
{
|
| 2760 |
over "arm_r_link3_convex_0"
|
| 2761 |
{
|
| 2762 |
+
over "mesh" (
|
| 2763 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2764 |
+
)
|
| 2765 |
{
|
| 2766 |
+
float3[] extent = [(-0.046742883, -0.046754844, 0.143), (0.06887351, 0.046754844, 0.33787674)]
|
| 2767 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2768 |
+
int[] faceVertexIndices = [40, 42, 41, 6, 3, 4, 6, 5, 3, 17, 14, 16, 17, 15, 14, 11, 10, 3, 11, 3, 5, 11, 35, 10, 11, 34, 35, 43, 13, 12, 43, 12, 45, 47, 43, 45, 47, 45, 46, 47, 44, 43, 8, 15, 17, 8, 26, 25, 8, 25, 15, 24, 27, 30, 24, 33, 22, 24, 30, 33, 50, 6, 4, 50, 4, 18, 50, 19, 51, 50, 18, 19, 50, 5, 6, 50, 11, 5, 50, 34, 11, 50, 52, 34, 1, 45, 12, 1, 46, 45, 28, 1, 12, 28, 29, 0, 28, 12, 13, 28, 0, 2, 28, 2, 1, 28, 57, 58, 28, 58, 53, 28, 13, 43, 28, 44, 57, 28, 43, 44, 28, 39, 31, 28, 53, 39, 9, 16, 7, 9, 17, 16, 9, 8, 17, 9, 0, 29, 9, 29, 30, 9, 27, 26, 9, 30, 27, 9, 26, 8, 9, 2, 0, 9, 7, 2, 23, 26, 27, 23, 25, 26, 23, 27, 24, 21, 51, 19, 21, 36, 48, 21, 49, 51, 21, 48, 49, 21, 18, 41, 21, 19, 18, 21, 42, 20, 21, 41, 42, 21, 37, 36, 21, 24, 22, 21, 22, 37, 21, 23, 24, 21, 20, 23, 54, 48, 36, 54, 36, 37, 54, 39, 53, 54, 37, 38, 54, 38, 39, 54, 53, 58, 54, 58, 59, 55, 35, 34, 55, 57, 44, 55, 47, 35, 55, 44, 47, 55, 34, 52, 32, 30, 29, 32, 33, 30, 32, 29, 28, 32, 28, 31, 32, 22, 33, 32, 37, 22, 32, 38, 37, 32, 31, 39, 32, 39, 38, 40, 7, 16, 40, 3, 10, 40, 4, 3, 40, 10, 35, 40, 16, 14, 40, 35, 47, 40, 41, 18, 40, 1, 2, 40, 47, 46, 40, 18, 4, 40, 2, 7, 40, 46, 1, 40, 14, 15, 40, 15, 25, 40, 25, 23, 40, 20, 42, 40, 23, 20, 56, 49, 48, 56, 48, 54, 56, 54, 59, 56, 58, 57, 56, 59, 58, 56, 57, 55, 56, 51, 49, 56, 52, 50, 56, 50, 51, 56, 55, 52]
|
| 2769 |
+
normal3f[] normals = None
|
| 2770 |
+
bool physics:collisionEnabled = 1
|
| 2771 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2772 |
+
point3f[] points = [(-0.04415097, -0.023565933, 0.16831948), (-0.02861961, -0.03796081, 0.143), (-0.03581454, -0.031804375, 0.143), (0.04585769, 0.015437063, 0.143), (0.027719472, 0.039297473, 0.143), (0.06887351, 0.0279873, 0.28280723), (0.06887351, 0.028500559, 0.28448275), (-0.046742883, -0.008183153, 0.143), (-0.046742883, 0.0012948164, 0.21111988), (-0.046742883, -0.015644569, 0.162316), (0.04585769, -0.015437286, 0.143), (0.06887351, -0.027911324, 0.28280723), (-0.02154679, -0.0433719, 0.15768081), (-0.026794016, -0.032851193, 0.29583558), (-0.03238264, 0.035128657, 0.143), (-0.04115845, 0.027383141, 0.16452104), (-0.046742883, 0.011261737, 0.143), (-0.046742883, 0.013783335, 0.15093383), (0.008025935, 0.046754844, 0.143), (0.012213946, 0.046754844, 0.18987234), (-0.014415042, 0.046754844, 0.19108), (-0.00500655, 0.046754844, 0.20319523), (-0.019438585, 0.028663887, 0.32209423), (-0.030268675, 0.029443296, 0.3022253), (-0.029215118, 0.029038236, 0.3066602), (-0.03117071, 0.02891178, 0.2986758), (-0.042937607, 0.0028011147, 0.2577796), (-0.03385856, -0.01734991, 0.3006943), (-0.028323907, -0.030985557, 0.3085854), (-0.030191848, -0.029476747, 0.3065347), (-0.030460624, -0.028492492, 0.30638126), (-0.012197179, -0.028937783, 0.32907277), (-0.013669329, -0.01905014, 0.32906252), (-0.017937792, -0.009139361, 0.32556963), (0.06887351, -0.02869785, 0.2853794), (0.025922874, -0.041661076, 0.143), (0.007475994, 0.031147603, 0.33787674), (0.0044433973, 0.03063375, 0.33787674), (0.0038964003, 0.025068386, 0.33787674), (0.011783213, -0.028929424, 0.33787674), (-0.028794395, 0.03789149, 0.143), (-0.0065490394, 0.046754844, 0.143), (-0.016005134, 0.046754844, 0.16442321), (-0.0017884787, -0.046754844, 0.20577835), (0.002963626, -0.046754844, 0.20751119), (-0.011755768, -0.046754844, 0.1547472), (-0.006548241, -0.046754844, 0.143), (0.006220972, -0.046754844, 0.143), (0.031871594, 0.029106772, 0.33787674), (0.05705673, 0.028831847, 0.32093444), (0.06887351, 0.028910348, 0.2965945), (0.06617765, 0.030114584, 0.30201492), (0.06887351, -0.028470265, 0.30281293), (0.023470622, -0.02952689, 0.33787674), (0.032098055, 0.026341172, 0.33787674), (0.06756527, -0.028772905, 0.30553946), (0.05829428, -0.003380903, 0.3218772), (0.05098265, -0.032813102, 0.32446817), (0.046759237, -0.03186361, 0.3297009), (0.04840204, -0.022877458, 0.3296127)]
|
| 2773 |
+
uniform token subdivisionScheme = "none"
|
| 2774 |
}
|
| 2775 |
}
|
| 2776 |
}
|
|
|
|
| 2810 |
{
|
| 2811 |
over "arm_r_link4_convex_0"
|
| 2812 |
{
|
| 2813 |
+
over "mesh" (
|
| 2814 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2815 |
+
)
|
| 2816 |
{
|
| 2817 |
+
float3[] extent = [(-0.0595, -0.05095392, -0.0585), (0.050961077, 0.1175, 0.0585)]
|
| 2818 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2819 |
+
int[] faceVertexIndices = [53, 54, 45, 53, 45, 44, 53, 44, 5, 30, 32, 33, 30, 33, 31, 6, 30, 7, 6, 28, 32, 6, 32, 30, 6, 29, 28, 57, 54, 55, 57, 56, 41, 57, 45, 54, 57, 41, 40, 57, 47, 48, 57, 46, 45, 57, 40, 47, 57, 48, 46, 57, 58, 56, 57, 59, 58, 39, 40, 41, 39, 38, 40, 49, 47, 40, 49, 38, 20, 49, 20, 21, 49, 40, 38, 49, 48, 47, 49, 50, 48, 26, 4, 16, 26, 9, 4, 26, 16, 33, 26, 33, 32, 26, 32, 28, 19, 6, 7, 19, 12, 6, 19, 13, 12, 19, 18, 13, 3, 20, 38, 3, 39, 22, 3, 22, 1, 3, 38, 39, 51, 4, 9, 51, 5, 4, 51, 53, 5, 51, 55, 54, 51, 54, 53, 51, 52, 55, 25, 57, 55, 25, 59, 57, 25, 55, 52, 42, 16, 4, 42, 5, 44, 42, 4, 5, 42, 44, 45, 42, 45, 46, 42, 46, 43, 24, 46, 48, 24, 48, 50, 24, 43, 46, 27, 9, 26, 27, 25, 52, 27, 51, 9, 27, 52, 51, 27, 8, 25, 27, 28, 29, 27, 26, 28, 15, 33, 16, 15, 31, 33, 15, 16, 42, 15, 42, 43, 15, 43, 24, 36, 21, 20, 36, 34, 21, 36, 20, 3, 36, 1, 2, 36, 14, 13, 36, 13, 18, 36, 2, 14, 36, 18, 37, 36, 3, 1, 36, 37, 35, 36, 35, 34, 11, 6, 12, 11, 27, 29, 11, 29, 6, 11, 8, 27, 11, 13, 14, 11, 12, 13, 11, 14, 10, 23, 41, 56, 23, 56, 58, 23, 22, 39, 23, 39, 41, 17, 7, 30, 17, 30, 31, 17, 19, 7, 17, 31, 15, 17, 37, 18, 17, 18, 19, 17, 35, 37, 17, 50, 49, 17, 21, 34, 17, 49, 21, 17, 24, 50, 17, 15, 24, 17, 34, 35, 0, 58, 59, 0, 59, 25, 0, 8, 11, 0, 25, 8, 0, 11, 10, 0, 23, 58, 0, 1, 22, 0, 2, 1, 0, 22, 23, 0, 14, 2, 0, 10, 14]
|
| 2820 |
+
normal3f[] normals = None
|
| 2821 |
+
bool physics:collisionEnabled = 1
|
| 2822 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2823 |
+
point3f[] points = [(0.03487144, -0.026292898, 0.0585), (0.050961077, -0.021914516, 0.04226971), (0.050061602, -0.022762634, 0.04302824), (0.050961077, -0.02195641, -0.04232617), (-0.054928254, -0.007022533, 0.0034721498), (-0.0595, 0.07095614, -0.00063976715), (-0.017141392, -0.05095392, 0.04318484), (-0.013109449, -0.05095392, -0.044416692), (-0.026075551, -0.033907223, 0.0585), (-0.049858324, -0.015696723, 0.047849976), (0.03041182, -0.030685727, 0.0585), (-0.0009100477, -0.041296165, 0.0585), (0.0021051557, -0.05095392, 0.049185243), (0.020176066, -0.05095392, 0.04384575), (0.021666065, -0.04954798, 0.044631805), (-0.026022887, -0.034024693, -0.0585), (-0.049815558, -0.015726129, -0.04787015), (-0.0008065979, -0.041268308, -0.0585), (0.020222088, -0.05095392, -0.043818407), (0.0022813703, -0.05095392, -0.049126666), (0.050961077, 0.0061542233, -0.049091876), (0.04240177, 0.0069664456, -0.0585), (0.050961077, 0.0064453133, 0.049264155), (0.04238964, 0.006502901, 0.0585), (-0.039789032, -0.0033194504, -0.0585), (-0.039830696, -0.0032265263, 0.0585), (-0.047845736, -0.019132206, 0.048172068), (-0.030277163, -0.03596396, 0.0550062), (-0.035628296, -0.039981492, 0.03732673), (-0.026715212, -0.045430843, 0.046064567), (-0.02785641, -0.0421974, -0.0492323), (-0.03010562, -0.03604487, -0.055098437), (-0.037431024, -0.036869574, -0.039083626), (-0.04781099, -0.019147621, -0.04819105), (0.034990847, -0.026175283, -0.0585), (0.030400703, -0.030696677, -0.0585), (0.050212197, -0.022663161, -0.04296211), (0.021651447, -0.049605947, -0.044572845), (0.050961077, 0.006941214, -0.048627473), (0.050961077, 0.0071191816, 0.04888153), (0.023371814, 0.1175, -0.015256862), (0.023386069, 0.1175, 0.01602428), (-0.049928386, -0.012794164, -0.04868955), (-0.046487737, -0.0033577878, -0.053920507), (-0.0595, 0.08982799, -0.014087923), (-0.0595, 0.1175, -0.009782842), (-0.050060324, 0.1175, -0.028162114), (0.0019655952, 0.1175, -0.039984584), (-0.029269215, 0.1175, -0.04239866), (0.03963101, 0.01239041, -0.0585), (-0.028126895, 0.03808037, -0.0585), (-0.049933515, -0.012432271, 0.04879669), (-0.046084233, -0.0036713697, 0.054099787), (-0.0595, 0.09915409, 0.013791533), (-0.0595, 0.1175, 0.010789051), (-0.049405657, 0.1175, 0.02845588), (0.0010078086, 0.1175, 0.04022253), (-0.030107047, 0.1175, 0.0422986), (0.03866486, 0.013596362, 0.0585), (-0.02926574, 0.036248792, 0.0585)]
|
| 2824 |
+
uniform token subdivisionScheme = "none"
|
| 2825 |
}
|
| 2826 |
}
|
| 2827 |
}
|
|
|
|
| 2861 |
{
|
| 2862 |
over "arm_r_link5_convex_0"
|
| 2863 |
{
|
| 2864 |
+
over "mesh" (
|
| 2865 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2866 |
+
)
|
| 2867 |
{
|
| 2868 |
+
float3[] extent = [(-0.043000005, -0.056999926, 0.111499995), (0.043000005, 0.056999926, 0.33281356)]
|
| 2869 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2870 |
+
int[] faceVertexIndices = [4, 52, 50, 4, 3, 5, 4, 21, 3, 4, 50, 21, 13, 19, 14, 13, 15, 19, 22, 23, 24, 22, 42, 23, 22, 51, 55, 22, 55, 42, 22, 47, 21, 22, 21, 50, 22, 50, 51, 22, 48, 47, 22, 24, 49, 22, 49, 48, 1, 5, 10, 1, 10, 9, 1, 4, 5, 1, 2, 4, 1, 11, 6, 1, 9, 11, 1, 6, 18, 1, 18, 17, 16, 17, 18, 16, 19, 15, 16, 20, 19, 16, 18, 20, 7, 32, 29, 7, 27, 32, 33, 30, 45, 33, 29, 32, 33, 45, 46, 33, 31, 30, 33, 46, 29, 57, 24, 23, 57, 30, 31, 57, 49, 24, 57, 23, 30, 57, 59, 49, 58, 47, 48, 58, 49, 59, 58, 48, 49, 28, 33, 32, 28, 32, 27, 28, 25, 26, 28, 26, 33, 37, 9, 10, 37, 11, 9, 37, 12, 11, 37, 10, 35, 37, 35, 39, 54, 50, 52, 54, 51, 50, 54, 55, 51, 54, 52, 53, 0, 52, 4, 0, 4, 2, 0, 53, 52, 0, 2, 1, 0, 1, 17, 0, 17, 16, 8, 6, 11, 8, 11, 12, 8, 27, 7, 8, 28, 27, 8, 12, 28, 8, 18, 6, 8, 20, 18, 56, 31, 33, 56, 33, 26, 56, 57, 31, 56, 59, 57, 56, 58, 59, 34, 5, 3, 34, 10, 5, 34, 35, 10, 34, 39, 35, 34, 38, 39, 36, 3, 21, 36, 21, 47, 36, 47, 58, 36, 26, 25, 36, 56, 26, 36, 34, 3, 36, 58, 56, 36, 38, 34, 36, 25, 28, 36, 28, 12, 36, 12, 37, 36, 37, 39, 36, 39, 38, 44, 29, 46, 44, 8, 7, 44, 14, 19, 44, 19, 20, 44, 7, 29, 44, 20, 8, 44, 46, 45, 44, 45, 43, 40, 45, 30, 40, 30, 23, 40, 23, 42, 40, 43, 45, 41, 15, 13, 41, 16, 15, 41, 54, 53, 41, 53, 0, 41, 0, 16, 41, 42, 55, 41, 55, 54, 41, 40, 42, 41, 13, 14, 41, 14, 44, 41, 44, 43, 41, 43, 40]
|
| 2871 |
+
normal3f[] normals = None
|
| 2872 |
+
bool physics:collisionEnabled = 1
|
| 2873 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2874 |
+
point3f[] points = [(-0.018460374, 0.056999926, 0.32112184), (-0.025534404, 0.052478995, 0.31233367), (-0.019677863, 0.056999926, 0.31909037), (-0.013125713, 0.040417857, 0.111499995), (-0.019840777, 0.056999926, 0.22757943), (-0.024365906, 0.05353234, 0.20379108), (-0.025765821, -0.05049663, 0.3137284), (-0.017644554, -0.056999926, 0.32260832), (-0.01767242, -0.056972362, 0.3226994), (-0.043000005, 0.0390692, 0.23939185), (-0.043000005, 0.039120838, 0.20189416), (-0.043000005, -0.039015967, 0.24118541), (-0.043000005, -0.04043955, 0.20823534), (0.008352401, 0.049505606, 0.33281356), (0.009214862, -0.04947253, 0.33281356), (-0.008233951, 0.05144941, 0.33281356), (-0.015999626, 0.05458316, 0.32683972), (-0.023467073, 0.04437236, 0.32119015), (-0.023864487, -0.041869286, 0.32150432), (-0.009204282, -0.05219931, 0.33281356), (-0.014798225, -0.054513417, 0.32854316), (0.012616832, 0.040720567, 0.111499995), (0.03591508, 0.046530567, 0.21086474), (0.043000005, 0.037703462, 0.25011754), (0.043000005, 0.03821063, 0.24099302), (-0.013405674, -0.040424995, 0.111499995), (0.012453334, -0.04070722, 0.111499995), (-0.022487158, -0.056999926, 0.2275575), (-0.025717413, -0.054885782, 0.21308766), (0.018977681, -0.056999926, 0.3070277), (0.043000005, -0.03764739, 0.2517193), (0.043000005, -0.040228322, 0.20563675), (0.023951652, -0.056999926, 0.22402975), (0.025184331, -0.056174815, 0.21819302), (-0.030576836, 0.027335893, 0.111499995), (-0.043000005, 0.023430271, 0.13466738), (-0.030655297, -0.027147513, 0.111499995), (-0.043000005, -0.023038803, 0.13438866), (-0.041899957, -5.195908e-7, 0.111499995), (-0.043000005, 0.0000035392552, 0.113862164), (0.023012279, 0.045078043, 0.3214779), (0.01774876, 0.051120143, 0.3255178), (0.024834804, 0.051144764, 0.31482783), (0.023467679, -0.04293808, 0.3217194), (0.018545967, -0.050605785, 0.32558694), (0.026002506, -0.050111428, 0.31280217), (0.022639656, -0.053025104, 0.31689265), (0.030452447, 0.027638268, 0.111499995), (0.03352329, 0.02672421, 0.11730757), (0.043000005, 0.0049285004, 0.11827534), (0.021102646, 0.051262863, 0.18425423), (0.034060445, 0.048196442, 0.21219042), (0.0027219844, 0.056999926, 0.22573093), (0.0081633115, 0.056999926, 0.31273967), (0.021659452, 0.053401086, 0.31815884), (0.022603333, 0.053121667, 0.31691685), (0.030505572, -0.02750385, 0.111499995), (0.043000005, -0.02374728, 0.134673), (0.041899323, 0.0000030806782, 0.111499995), (0.043000005, -0.0000209496, 0.11385287)]
|
| 2875 |
+
uniform token subdivisionScheme = "none"
|
| 2876 |
}
|
| 2877 |
}
|
| 2878 |
}
|
|
|
|
| 2912 |
{
|
| 2913 |
over "arm_r_link6_convex_0"
|
| 2914 |
{
|
| 2915 |
+
over "mesh" (
|
| 2916 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2917 |
+
)
|
| 2918 |
{
|
| 2919 |
+
float3[] extent = [(-0.032999463, -0.039, -0.0485), (0.030499998, 0.039, 0.0478)]
|
| 2920 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2921 |
+
int[] faceVertexIndices = [23, 21, 22, 11, 9, 0, 40, 43, 42, 40, 41, 43, 6, 22, 24, 6, 5, 23, 6, 24, 25, 6, 23, 22, 11, 14, 8, 11, 10, 16, 11, 16, 14, 11, 8, 9, 11, 0, 29, 11, 40, 10, 11, 29, 41, 11, 41, 40, 39, 47, 46, 39, 2, 26, 39, 24, 22, 39, 0, 9, 39, 29, 0, 39, 1, 2, 39, 59, 58, 39, 36, 47, 39, 58, 30, 39, 8, 1, 39, 21, 36, 39, 22, 21, 39, 26, 24, 39, 9, 8, 39, 46, 45, 39, 30, 38, 39, 45, 59, 39, 41, 29, 39, 43, 41, 52, 42, 43, 52, 39, 38, 52, 38, 53, 52, 43, 39, 31, 53, 38, 31, 38, 30, 31, 55, 53, 31, 30, 58, 31, 58, 56, 37, 36, 21, 37, 23, 5, 37, 21, 23, 37, 47, 36, 37, 50, 47, 49, 46, 47, 49, 48, 46, 49, 47, 50, 20, 15, 16, 20, 40, 42, 20, 5, 6, 20, 32, 33, 20, 49, 50, 20, 16, 10, 20, 10, 40, 20, 42, 52, 20, 37, 5, 20, 6, 19, 20, 52, 51, 20, 51, 32, 20, 50, 37, 20, 33, 49, 13, 15, 20, 13, 20, 18, 57, 58, 59, 57, 56, 58, 57, 59, 45, 57, 45, 44, 7, 45, 46, 7, 46, 48, 7, 44, 45, 7, 49, 33, 7, 33, 35, 7, 48, 49, 54, 53, 55, 54, 51, 52, 54, 52, 53, 12, 1, 8, 12, 3, 1, 12, 8, 14, 12, 16, 15, 12, 14, 16, 12, 15, 13, 4, 2, 1, 4, 1, 3, 4, 26, 2, 4, 27, 26, 28, 25, 24, 28, 24, 26, 28, 26, 27, 34, 55, 31, 34, 31, 56, 34, 44, 7, 34, 56, 57, 34, 57, 44, 34, 7, 35, 34, 54, 55, 34, 33, 32, 34, 35, 33, 34, 32, 51, 34, 51, 54, 17, 6, 25, 17, 19, 6, 17, 25, 28, 17, 13, 18, 17, 3, 12, 17, 4, 3, 17, 12, 13, 17, 27, 4, 17, 28, 27, 17, 20, 19, 17, 18, 20]
|
| 2922 |
+
normal3f[] normals = None
|
| 2923 |
+
bool physics:collisionEnabled = 1
|
| 2924 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2925 |
+
point3f[] points = [(-0.032999463, 0.039, -0.0021675734), (-0.032999463, 0.022358077, -0.03074089), (-0.032999463, 0.0029429954, -0.0392924), (-0.02622346, 0.0034836978, -0.0485), (-0.02726028, 0.00020227215, -0.0485), (0.030499998, -0.039, -0.009832573), (0.030499998, -0.0306733, -0.025254827), (0.002755275, -0.011036381, 0.0478), (-0.032999463, 0.03161797, -0.022548085), (-0.032999463, 0.03372868, -0.019260049), (0.030499998, 0.039, -0.011420101), (0.029962499, 0.039, -0.011416955), (-0.023362737, 0.0039893906, -0.0485), (-0.0056069675, 0.0038523108, -0.0485), (-0.020663107, 0.02885848, -0.026918989), (0.030499998, 0.019130178, -0.035011508), (0.030499998, 0.02978783, -0.025770707), (-0.005337388, -0.0034316108, -0.0485), (-0.0012322649, -0.00011699463, -0.0485), (0.030499998, -0.018968923, -0.03485093), (0.030499998, -0.00049278466, -0.0405213), (-0.032999463, -0.039, -0.0011830108), (-0.032999463, -0.03438135, -0.017921597), (0.020085962, -0.039, -0.009756248), (-0.032999463, -0.03221717, -0.021929964), (-0.00035839272, -0.029694755, -0.026841076), (-0.032999463, -0.0201485, -0.0329506), (-0.02664652, -0.0036762024, -0.0485), (-0.023137689, -0.0039831856, -0.0485), (-0.032999463, 0.039, 0.0027943891), (-0.032999463, 0.021161333, 0.03190346), (-0.0044931085, 0.009309314, 0.0478), (0.030499998, 0.0069201514, 0.03881438), (0.030499998, -0.007479892, 0.03881438), (0.009904323, 0.0039541502, 0.0478), (0.009904323, -0.0042712255, 0.0478), (-0.032999463, -0.039, 0.0021675734), (0.030499998, -0.039, 0.011495916), (-0.032999463, 0.03178639, 0.02219063), (-0.032999463, 0.033349533, 0.019897308), (0.030499998, 0.039, 0.0061086416), (-0.013062112, 0.039, 0.0056328014), (0.030499998, 0.035375174, 0.017325722), (-0.011134223, 0.035256993, 0.017236661), (-0.005266767, -0.008886879, 0.0478), (-0.032999463, -0.01951845, 0.032894656), (-0.032999463, -0.030486744, 0.02384353), (-0.032999463, -0.03353685, 0.019882068), (0.0045720385, -0.013557228, 0.04612149), (0.030499998, -0.024536058, 0.03206235), (0.030499998, -0.038083866, 0.014466521), (0.030499998, 0.021684024, 0.033435795), (0.030499998, 0.030223282, 0.024884187), (-0.0049011246, 0.023083527, 0.035135936), (0.004533858, 0.0096123, 0.0478), (-0.000614621, 0.010062733, 0.0478), (-0.009324807, 0.0049655163, 0.0478), (-0.010429959, -0.0033517398, 0.0478), (-0.032999463, 0.008899364, 0.0371042), (-0.032999463, -0.0057841195, 0.037966616)]
|
| 2926 |
+
uniform token subdivisionScheme = "none"
|
| 2927 |
}
|
| 2928 |
}
|
| 2929 |
}
|
|
|
|
| 2959 |
{
|
| 2960 |
over "arm_r_link7_convex_0"
|
| 2961 |
{
|
| 2962 |
+
over "mesh" (
|
| 2963 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 2964 |
+
)
|
| 2965 |
{
|
| 2966 |
+
float3[] extent = [(-0.038822327, -0.039506685, -0.05), (0.0885, 0.039506685, 0.051000003)]
|
| 2967 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 2968 |
+
int[] faceVertexIndices = [34, 33, 8, 34, 8, 9, 32, 34, 58, 32, 58, 59, 32, 33, 34, 31, 29, 18, 31, 18, 19, 31, 47, 45, 31, 45, 29, 50, 49, 48, 50, 51, 49, 26, 8, 33, 26, 11, 8, 26, 10, 11, 26, 38, 37, 26, 32, 38, 26, 2, 10, 26, 33, 32, 26, 27, 2, 40, 0, 18, 40, 23, 0, 40, 24, 23, 40, 18, 29, 40, 39, 24, 7, 12, 10, 7, 3, 5, 7, 2, 3, 7, 10, 2, 22, 23, 24, 22, 24, 25, 22, 25, 21, 22, 0, 23, 22, 1, 0, 16, 20, 14, 16, 21, 25, 16, 25, 20, 16, 14, 15, 16, 15, 17, 13, 8, 11, 13, 9, 8, 13, 15, 9, 13, 17, 15, 13, 11, 10, 13, 10, 12, 43, 14, 20, 43, 58, 34, 43, 56, 58, 43, 15, 14, 43, 34, 9, 43, 9, 15, 43, 24, 39, 43, 53, 55, 43, 39, 53, 43, 25, 24, 43, 20, 25, 54, 55, 53, 54, 53, 52, 57, 43, 55, 57, 55, 54, 57, 56, 43, 57, 54, 42, 57, 58, 56, 57, 59, 58, 36, 38, 32, 36, 32, 59, 36, 59, 57, 36, 57, 42, 28, 51, 50, 28, 27, 26, 28, 26, 51, 28, 3, 2, 28, 2, 27, 41, 53, 39, 41, 39, 40, 41, 52, 53, 6, 12, 7, 6, 21, 16, 6, 22, 21, 6, 17, 13, 6, 1, 22, 6, 16, 17, 6, 13, 12, 35, 37, 38, 35, 38, 36, 44, 29, 45, 44, 40, 29, 44, 41, 40, 44, 45, 47, 44, 47, 46, 4, 5, 3, 4, 3, 28, 4, 31, 19, 4, 48, 31, 4, 50, 48, 4, 28, 50, 4, 18, 0, 4, 19, 18, 4, 0, 1, 4, 1, 6, 4, 7, 5, 4, 6, 7, 30, 31, 48, 30, 46, 47, 30, 47, 31, 30, 48, 49, 30, 49, 51, 30, 51, 26, 30, 26, 37, 30, 37, 35, 30, 54, 52, 30, 36, 42, 30, 42, 54, 30, 52, 41, 30, 35, 36, 30, 44, 46, 30, 41, 44]
|
| 2969 |
+
normal3f[] normals = None
|
| 2970 |
+
bool physics:collisionEnabled = 1
|
| 2971 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 2972 |
+
point3f[] points = [(-0.038822327, 0.014009958, 0.043185793), (-0.020602804, 0.027420143, 0.051000003), (0.0885, 0.027851636, 0.025034422), (0.07965377, 0.039506685, 0.018594775), (-0.015665557, 0.039506685, 0.036138922), (0.0064905365, 0.039506685, 0.04375739), (-0.017919322, 0.029968247, 0.051000003), (-0.00059904554, 0.033601366, 0.051000003), (0.0885, -0.027851637, 0.025034416), (0.07965376, -0.039506685, 0.018594783), (0.0885, 0.01178241, 0.038107704), (0.0885, -0.011915491, 0.03799943), (0.019097691, 0.025274768, 0.051000003), (0.017835226, -0.02580857, 0.051000003), (-0.015664805, -0.039506685, 0.03613914), (0.006490832, -0.039506685, 0.04375739), (-0.017918903, -0.02996832, 0.051000003), (-0.0005987568, -0.03360138, 0.051000003), (-0.038822327, 0.015180639, 0.04083425), (-0.016583111, 0.039506685, 0.03438881), (-0.016474234, -0.039506685, 0.03459526), (-0.027622025, -0.02075493, 0.051000003), (-0.032053415, -0.0037306715, 0.051000003), (-0.038822327, 0.003693941, 0.045415394), (-0.038822327, -0.015223898, 0.039729185), (-0.037943594, -0.016207127, 0.04044835), (0.0885, 0.027810706, -0.02514959), (0.0885, 0.036748882, -8.673617e-18), (0.08589535, 0.039506685, -8.673617e-18), (-0.038822327, 0.012954698, -0.02967675), (-0.0028749679, 0.033169176, -0.05), (-0.014804359, 0.039506685, -0.027759383), (0.0885, -0.027810391, -0.025150476), (0.0885, -0.036748882, -1.5612511e-17), (0.08589535, -0.039506685, -1.5612511e-17), (0.016963238, 0.0253742, -0.05), (0.016963238, -0.025358563, -0.05), (0.0885, 0.01287708, -0.037298992), (0.0885, -0.0128778545, -0.037298992), (-0.038822327, -0.012804991, -0.038653813), (-0.038822327, -0.0015755326, -0.0414096), (-0.03289202, 0.005755037, -0.05), (-0.0030721517, -0.033226423, -0.05), (-0.014728973, -0.039506685, -0.02725558), (-0.02875322, 0.018295797, -0.05), (-0.0319322, 0.020207087, -0.040678665), (-0.015970265, 0.030506516, -0.05), (-0.018395182, 0.035264686, -0.03667247), (-0.0021643261, 0.039506685, -0.034282237), (-0.00054309046, 0.034299288, -0.048335154), (0.085231684, 0.039506685, -0.0019771727), (0.085231684, 0.03215639, -0.022658896), (-0.027442375, -0.019676028, -0.05), (-0.035476428, -0.01637304, -0.04160993), (-0.016232293, -0.030320292, -0.05), (-0.018557677, -0.03503167, -0.03657879), (-0.0022716536, -0.039506685, -0.034321908), (-0.0009143144, -0.034316592, -0.048423685), (0.085231684, -0.039506685, -0.0019771727), (0.085231684, -0.03215638, -0.022658924)]
|
| 2973 |
+
uniform token subdivisionScheme = "none"
|
| 2974 |
}
|
| 2975 |
}
|
| 2976 |
}
|
|
|
|
| 3020 |
double3 xformOp:translate = (0.10199996829032898, -0.9378674256219771, 1.3414998054504397)
|
| 3021 |
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
| 3022 |
|
| 3023 |
+
over "collisions" (
|
| 3024 |
+
instanceable = false
|
| 3025 |
+
)
|
| 3026 |
+
{
|
| 3027 |
+
over "gripper_r_base_link_convex_0"
|
| 3028 |
+
{
|
| 3029 |
+
over "mesh" (
|
| 3030 |
+
prepend apiSchemas = ["PhysxConvexHullCollisionAPI"]
|
| 3031 |
+
)
|
| 3032 |
+
{
|
| 3033 |
+
float3[] extent = [(-0.02923458, -0.040161066, -0.0005001409), (0.029053038, 0.040197864, 0.08392755)]
|
| 3034 |
+
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
| 3035 |
+
int[] faceVertexIndices = [43, 39, 11, 43, 11, 10, 2, 38, 42, 2, 8, 38, 26, 23, 22, 26, 27, 23, 9, 19, 20, 9, 12, 19, 18, 17, 21, 18, 21, 20, 18, 20, 19, 14, 11, 13, 14, 10, 11, 14, 9, 10, 14, 12, 9, 24, 21, 15, 24, 3, 2, 24, 43, 10, 24, 22, 3, 24, 26, 22, 24, 42, 43, 24, 2, 42, 24, 20, 21, 24, 10, 9, 24, 9, 20, 24, 15, 16, 24, 16, 25, 41, 39, 43, 41, 43, 42, 41, 42, 38, 41, 40, 39, 7, 3, 4, 7, 2, 3, 7, 8, 2, 7, 38, 8, 7, 41, 38, 7, 46, 47, 7, 47, 41, 7, 4, 31, 7, 31, 44, 7, 44, 46, 48, 0, 40, 48, 41, 47, 48, 40, 41, 45, 47, 46, 45, 46, 44, 45, 49, 48, 45, 48, 47, 32, 3, 22, 32, 4, 3, 32, 22, 23, 32, 31, 4, 29, 25, 28, 29, 24, 25, 29, 27, 26, 29, 26, 24, 34, 15, 21, 34, 21, 17, 34, 16, 15, 34, 35, 16, 34, 17, 18, 34, 18, 53, 34, 53, 50, 33, 25, 16, 33, 28, 25, 33, 6, 28, 33, 16, 35, 37, 0, 36, 37, 13, 11, 37, 11, 39, 37, 40, 0, 37, 39, 40, 55, 36, 0, 55, 0, 48, 55, 1, 58, 55, 49, 1, 55, 48, 49, 54, 19, 12, 54, 18, 19, 54, 53, 18, 54, 12, 14, 54, 14, 13, 54, 13, 37, 54, 37, 52, 30, 1, 49, 30, 5, 1, 30, 49, 45, 30, 23, 27, 30, 32, 23, 30, 27, 29, 30, 29, 5, 30, 44, 31, 30, 45, 44, 30, 31, 32, 51, 35, 34, 51, 34, 50, 51, 33, 35, 56, 36, 55, 56, 52, 37, 56, 37, 36, 56, 50, 53, 56, 54, 52, 56, 53, 54, 56, 51, 50, 56, 57, 51, 59, 58, 1, 59, 28, 6, 59, 29, 28, 59, 1, 5, 59, 5, 29, 59, 6, 33, 59, 33, 51, 59, 51, 57, 59, 55, 58, 59, 57, 56, 59, 56, 55]
|
| 3036 |
+
normal3f[] normals = None
|
| 3037 |
+
int physxConvexHullCollision:hullVertexLimit = 64
|
| 3038 |
+
point3f[] points = [(-0.018505722, -0.02165171, 0.08392755), (0.018552564, -0.021801112, 0.08392755), (-0.012733625, -0.026867148, -0.0005001409), (0.0068511674, -0.028768366, -0.0005001409), (0.009445681, -0.040161066, 0.036595345), (0.02136972, -0.02877954, 0.07027447), (0.021552257, 0.028106451, 0.06947407), (-0.008238547, -0.040161066, 0.04231148), (-0.015390925, -0.037703164, 0.036439326), (-0.025906555, 0.014422271, -0.0005001409), (-0.02923458, 0.0045371577, -0.0005001409), (-0.02923458, 0.004914251, 0.032112252), (-0.018675284, 0.036389276, 0.04172339), (-0.021395287, 0.028639924, 0.07024281), (-0.020122984, 0.03236872, 0.065894626), (0.017225172, 0.022473095, -0.0005001409), (0.023839457, 0.020304404, 0.0038634283), (0.008504041, 0.040197864, 0.036519263), (-0.010338451, 0.040197864, 0.043283463), (-0.015382404, 0.03836125, 0.0389368), (-0.012104244, 0.026949076, -0.0005001409), (0.0057585957, 0.028861793, -0.0005001409), (0.01574422, -0.02328929, -0.0005001409), (0.024227321, -0.019333573, 0.003128499), (0.029053038, 0.0038280515, -0.0005001409), (0.029053038, 0.004428141, -0.00018304444), (0.029053038, -0.002842996, -0.0005001409), (0.029053038, -0.0050158654, 0.00036850484), (0.029053038, 0.00486481, 0.03311542), (0.029053038, -0.0054993015, 0.03310019), (0.02006826, -0.032559797, 0.065526396), (0.011272143, -0.040161066, 0.039808553), (0.018659584, -0.03638003, 0.042008437), (0.019598702, 0.033926494, 0.061163217), (0.009941088, 0.040197864, 0.038823064), (0.018766297, 0.036194347, 0.041451607), (-0.018561304, 0.02129665, 0.08392755), (-0.018639652, 0.021752598, 0.0835508), (-0.018979132, -0.03591364, 0.04127818), (-0.02923458, -0.0036287876, 0.032058686), (-0.020876251, -0.027592445, 0.072404966), (-0.018978605, -0.034281574, 0.06411406), (-0.027179405, -0.01256017, -0.0005001409), (-0.02923458, -0.005958156, -0.0005001409), (0.008067373, -0.040161066, 0.051078998), (0.014827417, -0.034861773, 0.06680075), (-0.0069458787, -0.040161066, 0.049587537), (-0.018286338, -0.034537327, 0.06443257), (-0.009037149, -0.027996523, 0.08392755), (0.0071554054, -0.02856293, 0.08392755), (0.007425646, 0.040197864, 0.04982389), (0.016063644, 0.035198446, 0.0635259), (-0.010705685, 0.030386282, 0.078638114), (-0.008231241, 0.040197864, 0.050682247), (-0.015507322, 0.034355044, 0.06764814), (-0.00075707916, 0.026640793, 0.08392755), (-0.00028946018, 0.028909111, 0.0822555), (0.012083243, 0.029829483, 0.07896753), (0.018565448, 0.020668287, 0.08392755), (0.018957252, 0.023279712, 0.08203398)]
|
| 3039 |
+
uniform token subdivisionScheme = "none"
|
| 3040 |
+
}
|
| 3041 |
+
}
|
| 3042 |
+
}
|
| 3043 |
+
|
| 3044 |
def Camera "Right_Camera" (
|
| 3045 |
active = true
|
| 3046 |
prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
|