warp-lang 0.15.0__py3-none-manylinux2014_x86_64.whl → 1.0.0__py3-none-manylinux2014_x86_64.whl
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- warp/__init__.py +1 -0
- warp/codegen.py +7 -3
- warp/config.py +2 -1
- warp/constants.py +3 -0
- warp/context.py +44 -21
- warp/examples/assets/bunny.usd +0 -0
- warp/examples/assets/cartpole.urdf +110 -0
- warp/examples/assets/crazyflie.usd +0 -0
- warp/examples/assets/cube.usda +42 -0
- warp/examples/assets/nv_ant.xml +92 -0
- warp/examples/assets/nv_humanoid.xml +183 -0
- warp/examples/assets/quadruped.urdf +268 -0
- warp/examples/assets/rocks.nvdb +0 -0
- warp/examples/assets/rocks.usd +0 -0
- warp/examples/assets/sphere.usda +56 -0
- warp/examples/assets/torus.usda +105 -0
- warp/examples/core/example_dem.py +6 -6
- warp/examples/core/example_fluid.py +3 -3
- warp/examples/core/example_graph_capture.py +3 -6
- warp/examples/optim/example_bounce.py +9 -8
- warp/examples/optim/example_cloth_throw.py +12 -8
- warp/examples/optim/example_diffray.py +10 -12
- warp/examples/optim/example_drone.py +31 -14
- warp/examples/optim/example_spring_cage.py +10 -15
- warp/examples/optim/example_trajectory.py +7 -24
- warp/examples/sim/example_cartpole.py +3 -9
- warp/examples/sim/example_cloth.py +10 -10
- warp/examples/sim/example_granular.py +3 -3
- warp/examples/sim/example_granular_collision_sdf.py +9 -4
- warp/examples/sim/example_jacobian_ik.py +0 -10
- warp/examples/sim/example_particle_chain.py +4 -4
- warp/examples/sim/example_quadruped.py +15 -11
- warp/examples/sim/example_rigid_chain.py +13 -8
- warp/examples/sim/example_rigid_contact.py +4 -4
- warp/examples/sim/example_rigid_force.py +7 -7
- warp/examples/sim/example_rigid_soft_contact.py +4 -4
- warp/examples/sim/example_soft_body.py +3 -3
- warp/jax.py +45 -0
- warp/jax_experimental.py +339 -0
- warp/render/render_opengl.py +188 -95
- warp/render/render_usd.py +34 -10
- warp/sim/__init__.py +13 -4
- warp/sim/articulation.py +4 -5
- warp/sim/collide.py +320 -175
- warp/sim/import_mjcf.py +25 -30
- warp/sim/import_urdf.py +94 -63
- warp/sim/import_usd.py +51 -36
- warp/sim/inertia.py +3 -2
- warp/sim/integrator.py +233 -0
- warp/sim/integrator_euler.py +447 -469
- warp/sim/integrator_featherstone.py +1991 -0
- warp/sim/integrator_xpbd.py +1420 -640
- warp/sim/model.py +741 -487
- warp/sim/particles.py +2 -1
- warp/sim/render.py +18 -2
- warp/sim/utils.py +222 -11
- warp/stubs.py +1 -0
- warp/tape.py +6 -9
- warp/tests/test_examples.py +87 -20
- warp/tests/test_grad_customs.py +122 -0
- warp/tests/test_jax.py +254 -0
- warp/tests/test_options.py +13 -53
- warp/tests/test_quat.py +23 -0
- warp/tests/test_snippet.py +2 -0
- warp/tests/test_utils.py +31 -26
- warp/tests/test_verify_fp.py +65 -0
- warp/tests/unittest_suites.py +4 -0
- warp/utils.py +50 -1
- {warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/METADATA +1 -1
- {warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/RECORD +73 -64
- warp/examples/env/__init__.py +0 -0
- warp/examples/env/env_ant.py +0 -61
- warp/examples/env/env_cartpole.py +0 -63
- warp/examples/env/env_humanoid.py +0 -65
- warp/examples/env/env_usd.py +0 -97
- warp/examples/env/environment.py +0 -526
- warp/sim/optimizer.py +0 -138
- {warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/LICENSE.md +0 -0
- {warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/WHEEL +0 -0
- {warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/top_level.txt +0 -0
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<body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
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<joint limited="true" name="right_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
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<geom name="right_right_foot" type="capsule" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
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<site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
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<body name="left_thigh" pos="0 .1 -.04">
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<site name="left_hip" class="force-torque"/>
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<joint limited="true" name="left_hip_x" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
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<joint limited="true" name="left_hip_z" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
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<joint limited="true" name="left_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
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<geom name="left_thigh" type="capsule" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<body name="left_shin" pos="0 -.01 -.403">
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<site name="left_knee" class="force-torque" pos="0 0 .02"/>
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<actuator>
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<motor name='abdomen_y' gear='67.5' joint='abdomen_y'/>
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<motor name='abdomen_z' gear='67.5' joint='abdomen_z'/>
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<motor name='abdomen_x' gear='67.5' joint='abdomen_x'/>
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<motor name='right_hip_x' gear='45.0' joint='right_hip_x'/>
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<motor name='right_hip_z' gear='45.0' joint='right_hip_z'/>
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<motor name='right_hip_y' gear='135.0' joint='right_hip_y'/>
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<motor name='right_knee' gear='90.0' joint='right_knee'/>
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<motor name='right_ankle_x' gear='22.5' joint='right_ankle_x'/>
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<motor name='right_ankle_y' gear='22.5' joint='right_ankle_y'/>
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<motor name='left_hip_x' gear='45.0' joint='left_hip_x'/>
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<motor name='left_hip_z' gear='45.0' joint='left_hip_z'/>
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<motor name='left_hip_y' gear='135.0' joint='left_hip_y'/>
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<motor name='left_knee' gear='90.0' joint='left_knee'/>
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<motor name='left_ankle_x' gear='22.5' joint='left_ankle_x'/>
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<motor name='left_ankle_y' gear='22.5' joint='left_ankle_y'/>
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<motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/>
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<motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/>
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<motor name='right_elbow' gear='45.0' joint='right_elbow'/>
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<motor name='left_shoulder1' gear='67.5' joint='left_shoulder1'/>
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<motor name='left_shoulder2' gear='67.5' joint='left_shoulder2'/>
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<motor name='left_elbow' gear='45.0' joint='left_elbow'/>
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</actuator>
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<sensor>
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<subtreelinvel name="torso_subtreelinvel" body="torso"/>
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<accelerometer name="torso_accel" site="root"/>
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<velocimeter name="torso_vel" site="root"/>
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<gyro name="torso_gyro" site="root"/>
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<force name="left_ankle_force" site="left_ankle"/>
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<force name="right_ankle_force" site="right_ankle"/>
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<force name="left_knee_force" site="left_knee"/>
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<force name="right_knee_force" site="right_knee"/>
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<force name="left_hip_force" site="left_hip"/>
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<force name="right_hip_force" site="right_hip"/>
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<torque name="left_ankle_torque" site="left_ankle"/>
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<torque name="right_ankle_torque" site="right_ankle"/>
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<torque name="left_knee_torque" site="left_knee"/>
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<torque name="right_knee_torque" site="right_knee"/>
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<torque name="left_hip_torque" site="left_hip"/>
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<torque name="right_hip_torque" site="right_hip"/>
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<touch name="torso_touch" site="torso"/>
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<touch name="head_touch" site="head"/>
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<touch name="lower_waist_touch" site="lower_waist"/>
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<touch name="butt_touch" site="butt"/>
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<touch name="right_thigh_touch" site="right_thigh"/>
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<touch name="right_shin_touch" site="right_shin"/>
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<touch name="right_right_foot_touch" site="right_right_foot"/>
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<touch name="left_right_foot_touch" site="left_right_foot"/>
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<touch name="left_thigh_touch" site="left_thigh"/>
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<touch name="left_shin_touch" site="left_shin"/>
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<touch name="right_left_foot_touch" site="right_left_foot"/>
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<touch name="left_left_foot_touch" site="left_left_foot"/>
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<touch name="right_upper_arm_touch" site="right_upper_arm"/>
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<touch name="right_lower_arm_touch" site="right_lower_arm"/>
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<touch name="right_hand_touch" site="right_hand"/>
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<touch name="left_upper_arm_touch" site="left_upper_arm"/>
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<touch name="left_lower_arm_touch" site="left_lower_arm"/>
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<touch name="left_hand_touch" site="left_hand"/>
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</sensor>
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<?xml version="1.0" encoding="utf-8"?>
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<robot name="quadruped">
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<link name="base">
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<collision>
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<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.75" radius="0.1"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.024"/>
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<mass value="6.222"/>
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<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
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</inertial>
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</link>
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<joint name="LF_HAA" type="revolute">
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<parent link="base"/>
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<child link="LF_HAA"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<origin rpy="0 0 0" xyz="0.2999 0.104 0.0"/>
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</joint>
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<link name="LF_HAA">
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.00046"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="LF_HFE" type="revolute">
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<parent link="LF_HAA"/>
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<child link="LF_THIGH"/>
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<origin rpy="0 0 1.57079632679" xyz="0 0.05 0"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="LF_THIGH">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="LF_KFE" type="revolute">
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<parent link="LF_THIGH"/>
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<child link="LF_SHANK"/>
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<origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="LF_SHANK">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="RF_HAA" type="revolute">
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<parent link="base"/>
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<child link="RF_HAA"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<origin rpy="0 0 0" xyz="0.2999 -0.104 0.0"/>
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</joint>
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<link name="RF_HAA">
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.00046"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="RF_HFE" type="revolute">
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<parent link="RF_HAA"/>
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<child link="RF_THIGH"/>
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<origin rpy="0 0 -1.57079632679" xyz="0 -0.05 0"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="RF_THIGH">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="RF_KFE" type="revolute">
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<parent link="RF_THIGH"/>
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<child link="RF_SHANK"/>
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<origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="RF_SHANK">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="LH_HAA" type="revolute">
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<parent link="base"/>
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<child link="LH_HAA"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<origin rpy="0 0 3.1415" xyz="-0.2999 0.104 0.0"/>
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</joint>
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<link name="LH_HAA">
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<collision>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.00046"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
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</inertial>
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</link>
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<joint name="LH_HFE" type="revolute">
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<parent link="LH_HAA"/>
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<child link="LH_THIGH"/>
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<origin rpy="0 0 1.57079632679" xyz="0 -0.05 0"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="LH_THIGH">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
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</inertial>
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</link>
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<joint name="LH_KFE" type="revolute">
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<parent link="LH_THIGH"/>
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<child link="LH_SHANK"/>
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<origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
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<axis xyz="1 0 0"/>
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<limit effort="80.0" velocity="20." />
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="LH_SHANK">
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
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<mass value="2.04"/>
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
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203
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+
</inertial>
|
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|
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</link>
|
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|
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<joint name="RH_HAA" type="revolute">
|
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<parent link="base"/>
|
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<child link="RH_HAA"/>
|
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<axis xyz="1 0 0"/>
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|
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<limit effort="80.0" velocity="20." />
|
|
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|
+
<origin rpy="0 0 3.1415" xyz="-0.2999 -0.104 0.0"/>
|
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211
|
+
</joint>
|
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<link name="RH_HAA">
|
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<collision>
|
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.05" radius="0.04"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.00046"/>
|
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<mass value="2.04"/>
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|
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
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223
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+
</inertial>
|
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+
</link>
|
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|
+
<joint name="RH_HFE" type="revolute">
|
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|
+
<parent link="RH_HAA"/>
|
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|
+
<child link="RH_THIGH"/>
|
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<origin rpy="0 0 -1.57079632679" xyz="0 0.05 0"/>
|
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+
<axis xyz="1 0 0"/>
|
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|
+
<limit effort="80.0" velocity="20." />
|
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|
+
<dynamics damping="0.0" friction="0.0"/>
|
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</joint>
|
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<link name="RH_THIGH">
|
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234
|
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<collision>
|
|
235
|
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
|
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<geometry>
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<cylinder length="0.25" radius="0.02"/>
|
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</geometry>
|
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</collision>
|
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<inertial>
|
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
|
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<mass value="2.04"/>
|
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|
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
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244
|
+
</inertial>
|
|
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|
+
</link>
|
|
246
|
+
<joint name="RH_KFE" type="revolute">
|
|
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|
+
<parent link="RH_THIGH"/>
|
|
248
|
+
<child link="RH_SHANK"/>
|
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|
+
<origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
|
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<axis xyz="1 0 0"/>
|
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+
<limit effort="80.0" velocity="20." />
|
|
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|
+
<dynamics damping="0.0" friction="0.0"/>
|
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253
|
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</joint>
|
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254
|
+
<link name="RH_SHANK">
|
|
255
|
+
<collision>
|
|
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|
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
|
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<geometry>
|
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<cylinder length="0.25" radius="0.02"/>
|
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</geometry>
|
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</collision>
|
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<inertial>
|
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|
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<origin rpy="0 0 0" xyz="0 0 -0.125"/>
|
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<mass value="2.04"/>
|
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|
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<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
|
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</inertial>
|
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</link>
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</robot>
|
|
Binary file
|
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#usda 1.0
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(
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doc = "Blender v2.92.0"
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metersPerUnit = 1
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upAxis = "Z"
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defaultPrim="Sphere"
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)
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def Xform "Sphere"
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{
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matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
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uniform token[] xformOpOrder = ["xformOp:transform"]
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def Mesh "Sphere"
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{
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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, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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 = [113, 3, 10, 112, 8, 9, 111, 6, 7, 110, 5, 0, 112, 10, 3, 111, 8, 2, 0, 6, 1, 110, 109, 4, 10, 16, 17, 7, 15, 8, 5, 13, 6, 4, 109, 11, 113, 10, 17, 8, 16, 9, 6, 14, 7, 4, 12, 5, 14, 22, 15, 12, 20, 13, 11, 109, 18, 113, 17, 24, 15, 23, 16, 13, 21, 14, 11, 19, 12, 17, 23, 24, 113, 24, 31, 22, 30, 23, 20, 28, 21, 18, 26, 19, 24, 30, 31, 22, 28, 29, 20, 26, 27, 18, 109, 25, 27, 35, 28, 25, 33, 26, 31, 37, 38, 29, 35, 36, 26, 34, 27, 25, 109, 32, 113, 31, 38, 29, 37, 30, 38, 44, 45, 35, 43, 36, 33, 41, 34, 32, 109, 39, 113, 38, 45, 36, 44, 37, 34, 42, 35, 33, 39, 40, 40, 48, 41, 39, 109, 46, 113, 45, 52, 44, 50, 51, 41, 49, 42, 40, 46, 47, 44, 52, 45, 42, 50, 43, 113, 52, 59, 51, 57, 58, 48, 56, 49, 47, 53, 54, 51, 59, 52, 49, 57, 50, 47, 55, 48, 46, 109, 53, 54, 60, 61, 58, 66, 59, 56, 64, 57, 54, 62, 55, 53, 109, 60, 113, 59, 66, 58, 64, 65, 55, 63, 56, 66, 72, 73, 64, 70, 71, 61, 69, 62, 60, 109, 67, 113, 66, 73, 65, 71, 72, 62, 70, 63, 61, 67, 68, 67, 109, 74, 113, 73, 80, 72, 78, 79, 70, 76, 77, 68, 74, 75, 72, 80, 73, 70, 78, 71, 68, 76, 69, 79, 85, 86, 77, 83, 84, 75, 81, 82, 79, 87, 80, 77, 85, 78, 75, 83, 76, 74, 109, 81, 113, 80, 87, 87, 93, 94, 84, 92, 85, 82, 90, 83, 81, 109, 88, 113, 87, 94, 86, 92, 93, 84, 90, 91, 82, 88, 89, 91, 99, 92, 89, 97, 90, 88, 109, 95, 113, 94, 101, 93, 99, 100, 91, 97, 98, 89, 95, 96, 94, 100, 101, 113, 101, 108, 100, 106, 107, 98, 104, 105, 96, 102, 103, 101, 107, 108, 98, 106, 99, 96, 104, 97, 95, 109, 102, 105, 1, 111, 103, 110, 0, 107, 3, 108, 105, 2, 106, 104, 0, 1, 102, 109, 110, 113, 108, 3, 107, 2, 112, 112, 2, 8, 111, 1, 6, 110, 4, 5, 112, 9, 10, 111, 7, 8, 0, 5, 6, 10, 9, 16, 7, 14, 15, 5, 12, 13, 8, 15, 16, 6, 13, 14, 4, 11, 12, 14, 21, 22, 12, 19, 20, 15, 22, 23, 13, 20, 21, 11, 18, 19, 17, 16, 23, 22, 29, 30, 20, 27, 28, 18, 25, 26, 24, 23, 30, 22, 21, 28, 20, 19, 26, 27, 34, 35, 25, 32, 33, 31, 30, 37, 29, 28, 35, 26, 33, 34, 29, 36, 37, 38, 37, 44, 35, 42, 43, 33, 40, 41, 36, 43, 44, 34, 41, 42, 33, 32, 39, 40, 47, 48, 44, 43, 50, 41, 48, 49, 40, 39, 46, 44, 51, 52, 42, 49, 50, 51, 50, 57, 48, 55, 56, 47, 46, 53, 51, 58, 59, 49, 56, 57, 47, 54, 55, 54, 53, 60, 58, 65, 66, 56, 63, 64, 54, 61, 62, 58, 57, 64, 55, 62, 63, 66, 65, 72, 64, 63, 70, 61, 68, 69, 65, 64, 71, 62, 69, 70, 61, 60, 67, 72, 71, 78, 70, 69, 76, 68, 67, 74, 72, 79, 80, 70, 77, 78, 68, 75, 76, 79, 78, 85, 77, 76, 83, 75, 74, 81, 79, 86, 87, 77, 84, 85, 75, 82, 83, 87, 86, 93, 84, 91, 92, 82, 89, 90, 86, 85, 92, 84, 83, 90, 82, 81, 88, 91, 98, 99, 89, 96, 97, 93, 92, 99, 91, 90, 97, 89, 88, 95, 94, 93, 100, 100, 99, 106, 98, 97, 104, 96, 95, 102, 101, 100, 107, 98, 105, 106, 96, 103, 104, 105, 104, 1, 103, 102, 110, 107, 112, 3, 105, 111, 2, 104, 103, 0, 107, 106, 2]
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normal3f[] normals = [(0.03877676, 0.19494371, -0.9800476), (0.03877676, 0.19494371, -0.9800476), (0.03877676, 0.19494371, -0.9800476), (0.16317244, 0.8203259, -0.54812425), (0.16317244, 0.8203259, -0.54812425), (0.16317244, 0.8203259, -0.54812425), (0.1914801, 0.96263725, 0.19148043), (0.1914801, 0.96263725, 0.19148043), (0.1914801, 0.96263725, 0.19148043), (0.10984117, 0.55220854, 0.82643855), (0.10984117, 0.55220854, 0.82643855), (0.10984117, 0.55220854, 0.82643855), (0.1098413, 0.55220884, -0.82643825), (0.1098413, 0.55220884, -0.82643825), (0.1098413, 0.55220884, -0.82643825), (0.1914805, 0.96263725, -0.1914801), (0.1914805, 0.96263725, -0.1914801), (0.1914805, 0.96263725, -0.1914801), (0.16317299, 0.82032585, 0.54812413), (0.16317299, 0.82032585, 0.54812413), (0.16317299, 0.82032585, 0.54812413), (0.038776617, 0.19494368, 0.9800476), (0.038776617, 0.19494368, 0.9800476), (0.038776617, 0.19494368, 0.9800476), (0.31280112, 0.46813983, -0.82643855), (0.31280112, 0.46813983, -0.82643855), (0.31280112, 0.46813983, -0.82643855), (0.54529023, 0.81608444, -0.19148041), (0.54529023, 0.81608444, -0.19148041), (0.54529023, 0.81608444, -0.19148041), (0.46467727, 0.6954386, 0.5481242), (0.46467727, 0.6954386, 0.5481242), (0.46467727, 0.6954386, 0.5481242), (0.11042675, 0.16526526, 0.9800476), (0.11042675, 0.16526526, 0.9800476), (0.11042675, 0.16526526, 0.9800476), (0.11042678, 0.16526528, -0.9800475), (0.11042678, 0.16526528, -0.9800475), (0.11042678, 0.16526528, -0.9800475), (0.4646773, 0.69543856, -0.5481243), (0.4646773, 0.69543856, -0.5481243), (0.4646773, 0.69543856, -0.5481243), (0.54529023, 0.81608444, 0.19148044), (0.54529023, 0.81608444, 0.19148044), (0.54529023, 0.81608444, 0.19148044), (0.31280112, 0.46813983, 0.8264384), (0.31280112, 0.46813983, 0.8264384), (0.31280112, 0.46813983, 0.8264384), (0.81608456, 0.54529005, -0.1914805), (0.81608456, 0.54529005, -0.1914805), (0.81608456, 0.54529005, -0.1914805), (0.6954387, 0.46467713, 0.5481242), (0.6954387, 0.46467713, 0.5481242), (0.6954387, 0.46467713, 0.5481242), (0.16526528, 0.110426724, 0.98004764), (0.16526528, 0.110426724, 0.98004764), (0.16526528, 0.110426724, 0.98004764), (0.16526535, 0.11042673, -0.98004764), (0.16526535, 0.11042673, -0.98004764), (0.16526535, 0.11042673, -0.98004764), (0.6954387, 0.46467707, -0.5481243), (0.6954387, 0.46467707, -0.5481243), (0.6954387, 0.46467707, -0.5481243), (0.81608456, 0.54529, 0.19148049), (0.81608456, 0.54529, 0.19148049), (0.81608456, 0.54529, 0.19148049), (0.46813995, 0.31280097, 0.8264385), (0.46813995, 0.31280097, 0.8264385), (0.46813995, 0.31280097, 0.8264385), (0.46813998, 0.31280097, -0.8264385), (0.46813998, 0.31280097, -0.8264385), (0.46813998, 0.31280097, -0.8264385), (0.19494376, 0.038776655, -0.9800476), (0.19494376, 0.038776655, -0.9800476), (0.19494376, 0.038776655, -0.9800476), (0.8203257, 0.16317284, -0.5481244), (0.8203257, 0.16317284, -0.5481244), (0.8203257, 0.16317284, -0.5481244), (0.9626373, 0.19148025, 0.19148044), (0.9626373, 0.19148025, 0.19148044), (0.9626373, 0.19148025, 0.19148044), (0.55220866, 0.10984108, 0.8264385), (0.55220866, 0.10984108, 0.8264385), (0.55220866, 0.10984108, 0.8264385), (0.55220866, 0.109840885, -0.8264385), (0.55220866, 0.109840885, -0.8264385), (0.55220866, 0.109840885, -0.8264385), (0.96263725, 0.19148034, -0.19148035), (0.96263725, 0.19148034, -0.19148035), (0.96263725, 0.19148034, -0.19148035), (0.8203258, 0.16317286, 0.5481242), (0.8203258, 0.16317286, 0.5481242), (0.8203258, 0.16317286, 0.5481242), (0.19494373, 0.0387767, 0.98004764), (0.19494373, 0.0387767, 0.98004764), (0.19494373, 0.0387767, 0.98004764), (0.9626373, -0.19148071, 0.19148037), (0.9626373, -0.19148071, 0.19148037), (0.9626373, -0.19148071, 0.19148037), (0.5522086, -0.109841324, 0.8264385), (0.5522086, -0.109841324, 0.8264385), (0.5522086, -0.109841324, 0.8264385), (0.55220866, -0.10984129, -0.82643837), (0.55220866, -0.10984129, -0.82643837), (0.55220866, -0.10984129, -0.82643837), (0.9626373, 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(-0.69543827, 0.4646777, 0.5481243), (-0.6954384, 0.4646776, -0.5481243), (-0.6954384, 0.4646776, -0.5481243), (-0.6954384, 0.4646776, -0.5481243), (-0.81608415, 0.54529065, 0.19148026), (-0.81608415, 0.54529065, 0.19148026), (-0.81608415, 0.54529065, 0.19148026), (-0.46813983, 0.31280124, 0.8264384), (-0.46813983, 0.31280124, 0.8264384), (-0.46813983, 0.31280124, 0.8264384), (-0.46813974, 0.31280142, -0.82643837), (-0.46813974, 0.31280142, -0.82643837), (-0.46813974, 0.31280142, -0.82643837), (-0.46467668, 0.6954389, -0.5481244), (-0.46467668, 0.6954389, -0.5481244), (-0.46467668, 0.6954389, -0.5481244), (-0.54528964, 0.8160849, 0.19148025), (-0.54528964, 0.8160849, 0.19148025), (-0.54528964, 0.8160849, 0.19148025), (-0.31280097, 0.46814007, 0.8264384), (-0.31280097, 0.46814007, 0.8264384), (-0.31280097, 0.46814007, 0.8264384), (-0.31280085, 0.46814018, -0.8264383), (-0.31280085, 0.46814018, -0.8264383), (-0.31280085, 0.46814018, -0.8264383), (-0.54528975, 0.81608474, -0.19148043), (-0.54528975, 0.81608474, -0.19148043), (-0.54528975, 0.81608474, -0.19148043), (-0.46467683, 0.695439, 0.5481242), (-0.46467683, 0.695439, 0.5481242), (-0.46467683, 0.695439, 0.5481242), (-0.19148095, 0.9626372, 0.19148058), (-0.19148095, 0.9626372, 0.19148058), (-0.19148095, 0.9626372, 0.19148058), (-0.10984098, 0.5522088, 0.8264384), (-0.10984098, 0.5522088, 0.8264384), (-0.10984098, 0.5522088, 0.8264384), (-0.109840795, 0.5522091, -0.8264382), (-0.109840795, 0.5522091, -0.8264382), (-0.109840795, 0.5522091, -0.8264382), (-0.19147988, 0.96263754, -0.19147949), (-0.19147988, 0.96263754, -0.19147949), (-0.19147988, 0.96263754, -0.19147949), (-0.16317348, 0.8203257, 0.54812425), (-0.16317348, 0.8203257, 0.54812425), (-0.16317348, 0.8203257, 0.54812425), (-0.16317335, 0.8203257, -0.5481243), (-0.16317335, 0.8203257, -0.5481243), (-0.16317335, 0.8203257, -0.5481243)] (
|
|
19
|
+
interpolation = "faceVarying"
|
|
20
|
+
)
|
|
21
|
+
point3f[] points = [(0, 0.70710677, 0.70710677), (0, 0.9238795, 0.38268343), (0, 0.9238795, -0.38268352), (0, 0.3826835, -0.9238795), (0.14644657, 0.3535534, 0.9238795), (0.270598, 0.65328145, 0.70710677), (0.35355335, 0.85355335, 0.38268343), (0.3826834, 0.9238795, -4.371139e-8), (0.35355335, 0.85355335, -0.38268352), (0.270598, 0.65328145, -0.70710677), (0.14644659, 0.3535534, -0.9238795), (0.27059796, 0.27059808, 0.9238795), (0.49999988, 0.49999997, 0.70710677), (0.6532814, 0.65328145, 0.38268343), (0.7071067, 0.70710677, -4.371139e-8), (0.6532814, 0.65328145, -0.38268352), (0.49999988, 0.49999997, -0.70710677), (0.270598, 0.27059805, -0.9238795), (0.35355327, 0.14644669, 0.9238795), (0.6532813, 0.27059805, 0.70710677), (0.85355324, 0.35355335, 0.38268343), (0.9238794, 0.3826834, -4.371139e-8), (0.85355324, 0.35355335, -0.38268352), (0.6532813, 0.27059805, -0.70710677), (0.3535533, 0.14644663, -0.9238795), (0.38268328, 1.3070317e-7, 0.9238795), (0.70710653, 7.1098526e-8, 0.70710677), (0.9238793, 1.1493881e-8, 0.38268343), (0.99999976, 1.1493881e-8, -4.371139e-8), (0.9238793, 1.1493881e-8, -0.38268352), (0.70710653, 7.1098526e-8, -0.70710677), (0.38268328, 5.6197365e-8, -0.9238795), (0.35355324, -0.14644642, 0.9238795), (0.65328115, -0.2705979, 0.70710677), (0.8535531, -0.35355332, 0.38268343), (0.9238792, -0.38268337, -4.371139e-8), (0.8535531, -0.35355332, -0.38268352), (0.65328115, -0.2705979, -0.70710677), (0.3535532, -0.1464465, -0.9238795), (0.2705979, -0.27059782, 0.9238795), (0.49999964, -0.49999976, 0.70710677), (0.65328115, -0.65328133, 0.38268343), (0.7071064, -0.7071066, -4.371139e-8), (0.65328115, -0.65328133, -0.38268352), (0.49999964, -0.49999976, -0.70710677), (0.27059785, -0.27059788, -0.9238795), (0.14644648, -0.35355312, 0.9238795), (0.27059773, -0.65328115, 0.70710677), (0.35355306, -0.8535531, 0.38268343), (0.38268304, -0.9238792, -4.371139e-8), (0.35355306, -0.8535531, -0.38268352), (0.27059773, -0.65328115, -0.70710677), (0.1464464, -0.35355315, -0.9238795), (-7.2684756e-8, -0.38268313, 0.9238795), (-2.6639987e-7, -0.70710635, 0.70710677), (-2.962022e-7, -0.92387915, 0.38268343), (-3.260045e-7, -0.9999995, -4.371139e-8), (-2.962022e-7, -0.92387915, -0.38268352), (-2.6639987e-7, -0.70710635, -0.70710677), (-1.6209172e-7, -0.38268313, -0.9238795), (-0.14644663, -0.35355306, 0.9238795), (-0.2705982, -0.653281, 0.70710677), (-0.3535536, -0.8535529, 0.38268343), (-0.38268363, -0.92387897, -4.371139e-8), (-0.3535536, -0.8535529, -0.38268352), (-0.2705982, -0.653281, -0.70710677), (-0.1464467, -0.35355303, -0.9238795), (-0.270598, -0.27059773, 0.9238795), (-0.5, -0.4999994, 0.70710677), (-0.6532815, -0.65328085, 0.38268343), (-0.7071068, -0.7071061, -4.371139e-8), (-0.6532815, -0.65328085, -0.38268352), (-0.5, -0.4999994, -0.70710677), (-0.27059805, -0.27059767, -0.9238795), (-0.35355327, -0.1464463, 0.9238795), (-0.65328133, -0.2705975, 0.70710677), (-0.85355324, -0.3535528, 0.38268343), (-0.9238794, -0.38268277, -4.371139e-8), (-0.85355324, -0.3535528, -0.38268352), (-0.65328133, -0.2705975, -0.70710677), (-0.3535533, -0.14644623, -0.9238795), (-0.38268325, 2.4991246e-7, 0.9238795), (-0.7071065, 4.88331e-7, 0.70710677), (-0.9238792, 5.1813333e-7, 0.38268343), (-0.99999964, 6.075403e-7, -4.371139e-8), (-0.9238792, 5.1813333e-7, -0.38268352), (-0.7071065, 4.88331e-7, -0.70710677), (-0.38268325, 3.3931943e-7, -0.9238795), (-0.35355318, 0.14644678, 0.9238795), (-0.65328103, 0.27059838, 0.70710677), (-0.85355294, 0.35355377, 0.38268343), (-0.92387897, 0.38268387, -4.371139e-8), (-0.85355294, 0.35355377, -0.38268352), (-0.65328103, 0.27059838, -0.70710677), (-0.35355315, 0.14644687, -0.9238795), (-0.27059785, 0.2705981, 0.9238795), (-0.49999946, 0.5000001, 0.70710677), (-0.6532809, 0.6532817, 0.38268343), (-0.70710605, 0.707107, -4.371139e-8), (-0.6532809, 0.6532817, -0.38268352), (-0.49999946, 0.5000001, -0.70710677), (-0.2705978, 0.2705982, -0.9238795), (-0.14644644, 0.35355338, 0.9238795), (-0.27059752, 0.6532814, 0.70710677), (-0.3535528, 0.8535533, 0.38268343), (-0.3826827, 0.9238795, -4.371139e-8), (-0.3535528, 0.8535533, -0.38268352), (-0.27059752, 0.6532814, -0.70710677), (-0.14644635, 0.3535534, -0.9238795), (-6.750156e-14, 5.062617e-14, 1), (1.0612918e-7, 0.38268337, 0.9238795), (6.574721e-7, 0.9999997, -4.371139e-8), (4.339547e-7, 0.7071065, -0.70710677), (0, 1.509958e-7, -1)]
|
|
22
|
+
uniform token subdivisionScheme = "none"
|
|
23
|
+
}
|
|
24
|
+
}
|
|
25
|
+
|
|
26
|
+
def Xform "Light"
|
|
27
|
+
{
|
|
28
|
+
matrix4d xformOp:transform = ( (-0.29086464643478394, 0.9551711678504944, -0.05518905818462372, 0), (-0.7711008191108704, -0.1998833566904068, 0.6045247316360474, 0), (0.5663931965827942, 0.21839119493961334, 0.7946722507476807, 0), (4.076245307922363, 1.0054539442062378, 5.903861999511719, 1) )
|
|
29
|
+
uniform token[] xformOpOrder = ["xformOp:transform"]
|
|
30
|
+
|
|
31
|
+
def SphereLight "Light"
|
|
32
|
+
{
|
|
33
|
+
color3f color = (1, 1, 1)
|
|
34
|
+
float intensity = 10
|
|
35
|
+
float radius = 0.1
|
|
36
|
+
float specular = 1
|
|
37
|
+
}
|
|
38
|
+
}
|
|
39
|
+
|
|
40
|
+
def Xform "Camera"
|
|
41
|
+
{
|
|
42
|
+
matrix4d xformOp:transform = ( (0.6859206557273865, 0.7276763319969177, 0, 0), (-0.32401347160339355, 0.305420845746994, 0.8953956365585327, 0), (0.6515582203865051, -0.6141703724861145, 0.44527140259742737, 0), (7.358891487121582, -6.925790786743164, 4.958309173583984, 1) )
|
|
43
|
+
uniform token[] xformOpOrder = ["xformOp:transform"]
|
|
44
|
+
|
|
45
|
+
def Camera "Camera"
|
|
46
|
+
{
|
|
47
|
+
float2 clippingRange = (0.1, 100)
|
|
48
|
+
float focalLength = 50
|
|
49
|
+
float horizontalAperture = 36
|
|
50
|
+
float horizontalApertureOffset = 0
|
|
51
|
+
token projection = "perspective"
|
|
52
|
+
float verticalAperture = 20.25
|
|
53
|
+
float verticalApertureOffset = 0
|
|
54
|
+
}
|
|
55
|
+
}
|
|
56
|
+
|