fly6516
f02a735179
- 新增吸盘模型文件 base.obj - 添加多个测试用例 URDF 文件，包括立方体、圆柱体等简单模型 - 创建 jaka_description 包的 CMakeLists.txt 和 display.launch 文件
767 lines
22 KiB
Plaintext
767 lines
22 KiB
Plaintext
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
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# (assimp v3.1.187496374)
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mtllib link1.obj.mtl
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vn 0.979524 -0.155564 0.127796
|
|
vn 0.968849 -0.225342 0.102726
|
|
vn 0.748547 -0.658008 0.0818713
|
|
vn 0.522947 0.85235 -0.00510958
|
|
vn 0.574362 0.800745 0.170046
|
|
vn 0.122396 -0.985291 0.119256
|
|
vn 0.0839426 -0.99285 -0.0848709
|
|
vn 0.406023 -0.865743 0.292634
|
|
vn 0.116049 -0.868422 0.482053
|
|
vn -0.337146 -0.62853 0.700915
|
|
vn 0.284131 -0.762578 0.581157
|
|
vn 0.276534 -0.760464 0.587557
|
|
vn 0.141762 -0.221011 0.964913
|
|
vn -0.144876 -0.653575 0.742866
|
|
vn -0.0465608 -0.786802 0.615447
|
|
vn -0.615212 -0.231045 0.753745
|
|
vn -0.498645 -0.755047 0.425743
|
|
vn -0.655121 -0.679414 0.330474
|
|
vn -0.705467 -0.648861 0.285124
|
|
vn -0.79187 -0.603147 0.0956809
|
|
vn -0.751734 -0.65734 -0.0529192
|
|
vn -0.654975 -0.735406 -0.173742
|
|
vn 0.434822 -0.889044 0.143288
|
|
vn 0.714389 -0.191004 0.673176
|
|
vn 0.712051 -0.196656 0.674025
|
|
vn 0.282073 -0.664743 0.691775
|
|
vn 0.519194 -0.179861 0.835516
|
|
vn 0.672205 -0.00413708 0.740353
|
|
vn 0.46445 -0.798529 0.382933
|
|
vn 0.429269 -0.788872 0.439782
|
|
vn 0.467029 -0.674853 0.571365
|
|
vn -0.217988 -0.220488 0.950719
|
|
vn -0.549193 -0.19062 0.813665
|
|
vn -0.907194 -0.192042 0.374324
|
|
vn -0.932201 -0.166481 0.321379
|
|
vn -0.857691 -0.190156 0.477711
|
|
vn -0.725858 -0.20189 0.657549
|
|
vn -0.966844 -0.164128 0.195638
|
|
vn 0.100177 -0.966949 -0.234464
|
|
vn -0.283695 -0.956998 -0.060591
|
|
vn -0.240941 -0.945622 0.218509
|
|
vn -0.619545 0.784956 -0.00285968
|
|
vn -0.937198 0.347581 0.0290976
|
|
vn -0.300075 0.953912 -0.00249058
|
|
vn 0.883947 0.467587 -0.000394642
|
|
vn 0.929752 -0.22776 0.289287
|
|
vn 0.660935 -0.701067 0.267715
|
|
vn 0.658486 -0.669121 0.34449
|
|
vn 0.27921 0.924454 0.259666
|
|
vn 0.391463 -0.892228 0.225135
|
|
vn 0.244302 -0.882143 0.402668
|
|
vn 0.171053 -0.792922 0.584821
|
|
vn -0.548799 -0.204998 0.81043
|
|
vn 0.431331 -0.719165 0.544753
|
|
vn 0.310681 -0.827672 0.467372
|
|
vn 0.188651 -0.238977 0.952523
|
|
vn -0.0646347 -0.689197 0.721685
|
|
vn -0.657555 -0.604155 0.450132
|
|
vn -0.588449 -0.803198 -0.0927366
|
|
vn -0.600846 -0.799046 0.0225906
|
|
vn 0.380618 -0.897923 -0.221052
|
|
vn 0.535659 -0.842197 -0.0614333
|
|
vn 0.398298 -0.917252 -0.00287295
|
|
vn 0.49184 -0.841328 -0.22419
|
|
vn 0.583948 -0.782201 0.217178
|
|
vn 0.78215 -0.172891 0.598624
|
|
vn 0.77157 -0.23018 0.59304
|
|
vn 0.520492 -0.179049 0.834883
|
|
vn 0.66236 -0.162763 0.731291
|
|
vn 0.5861 -0.236419 0.774979
|
|
vn -0.836818 -0.168404 0.520938
|
|
vn -0.17234 -0.956405 -0.235771
|
|
vn -0.357748 -0.925848 -0.121741
|
|
vn -0.484428 0.874825 -0.00312875
|
|
vn -0.777706 0.628628 0.000684221
|
|
vn -0.869286 0.49097 0.0573582
|
|
vn 0.723466 -0.654252 0.220342
|
|
vn 0.987866 -0.00501397 0.155229
|
|
vn -0.0555007 -0.996918 0.0554383
|
|
vn -0.212112 -0.972889 -0.0921686
|
|
vn 0.0490124 -0.987844 -0.147522
|
|
vn 0.311897 -0.163507 0.935941
|
|
vn 0.167702 -0.657357 0.734682
|
|
vn 0.16048 -0.641372 0.750258
|
|
vn -0.792156 -0.227205 0.566451
|
|
vn 0.552106 -0.822562 -0.136271
|
|
vn 0.574021 -0.804611 0.151993
|
|
vn 0.383304 -0.229382 0.894685
|
|
vn 0.319927 -0.211421 0.923552
|
|
vn -0.107213 -0.965019 -0.239255
|
|
vn 0.248657 -0.951015 -0.183686
|
|
vn 0.199104 -0.949536 -0.242362
|
|
vn -0.668137 0.744033 0.00289478
|
|
vn -0.649445 0.746612 0.144191
|
|
vn -0.763823 0.645421 -0.0025081
|
|
vn -0.762794 0.638883 0.0998648
|
|
vn -0.896187 0.443649 -0.00491388
|
|
vn 0.864259 -0.229175 0.447811
|
|
vn 0.833448 -0.189422 0.519118
|
|
vn 0.598107 -0.678476 0.426543
|
|
vn 0.597529 -0.653861 0.464139
|
|
vn 0.972839 0.0036151 0.231454
|
|
vn 0.954947 -0.00312198 0.29676
|
|
vn -0.0988836 -0.993641 -0.0538403
|
|
vn 0.2008 -0.89594 0.396196
|
|
vn 0.280693 -0.662524 0.694459
|
|
vn 0.297238 -0.173219 0.93896
|
|
vn -0.940751 0.339072 0.00429645
|
|
vn -0.0443691 -0.987648 -0.150274
|
|
vn 0.152119 -0.187179 0.970476
|
|
vn -0.875051 0.484031 0.000878792
|
|
vn 3.36252e-05 3.85133e-05 -1
|
|
vn 9.22556e-06 -1.65946e-05 -1
|
|
vn 8.39064e-06 -1.50979e-05 -1
|
|
vn 5.95889e-06 -1.04781e-05 -1
|
|
vn 0 -1.03124e-07 -1
|
|
vn 1.96831e-06 6.97027e-07 -1
|
|
vn 4.24668e-06 6.71906e-07 -1
|
|
vn 7.50599e-07 -8.35544e-07 -1
|
|
vn -1.69719e-06 5.76635e-06 -1
|
|
vn 0.000141745 0.000539471 -1
|
|
vn -8.05578e-05 -1.995e-05 -1
|
|
vn -5.26382e-05 3.61721e-05 -1
|
|
vn 0.000145371 -0.000104168 -1
|
|
vn -2.3275e-07 3.28855e-05 -1
|
|
vn -0.000111292 -0.000209832 -1
|
|
vn 0.000425521 2.71983e-06 -1
|
|
vn -5.49084e-05 9.02892e-05 -1
|
|
vn -6.38801e-05 8.97751e-05 -1
|
|
vn -3.11318e-05 -0.000269269 -1
|
|
vn -0.000377677 0.000146986 -1
|
|
|
|
# Mesh '<STL_BINARY>' with 300 faces
|
|
g <STL_BINARY>
|
|
usemtl DefaultMaterial
|
|
f 1//1 2//1 3//1
|
|
f 4//2 5//2 6//2
|
|
f 7//3 8//3 9//3
|
|
f 10//4 11//4 12//4
|
|
f 13//5 14//5 15//5
|
|
f 16//6 17//6 18//6
|
|
f 19//7 20//7 21//7
|
|
f 22//8 23//8 24//8
|
|
f 25//9 15//9 14//9
|
|
f 26//10 27//10 14//10
|
|
f 28//11 29//11 30//11
|
|
f 31//12 32//12 33//12
|
|
f 11//13 34//13 12//13
|
|
f 35//14 13//14 15//14
|
|
f 36//15 37//15 5//15
|
|
f 38//16 37//16 36//16
|
|
f 20//17 39//17 21//17
|
|
f 40//18 29//18 28//18
|
|
f 34//19 41//19 42//19
|
|
f 34//20 42//20 12//20
|
|
f 16//21 18//21 42//21
|
|
f 41//22 16//22 42//22
|
|
f 43//23 5//23 4//23
|
|
f 43//24 36//24 5//24
|
|
f 4//25 15//25 25//25
|
|
f 20//26 44//26 45//26
|
|
f 45//27 46//27 20//27
|
|
f 47//28 48//28 45//28
|
|
f 49//29 45//29 48//29
|
|
f 50//30 51//30 52//30
|
|
f 53//31 9//31 54//31
|
|
f 27//32 25//32 14//32
|
|
f 53//33 7//33 9//33
|
|
f 27//34 55//34 25//34
|
|
f 27//35 26//35 56//35
|
|
f 57//36 58//36 59//36
|
|
f 60//37 61//37 62//37
|
|
f 63//38 64//38 60//38
|
|
f 19//39 65//39 43//39
|
|
f 65//40 19//40 21//40
|
|
f 32//41 66//41 33//41
|
|
f 67//42 66//42 32//42
|
|
f 68//43 31//43 69//43
|
|
f 30//44 70//44 69//44
|
|
f 23//45 10//45 24//45
|
|
f 22//46 24//46 71//46
|
|
f 6//47 5//47 58//47
|
|
f 58//48 5//48 37//48
|
|
f 70//49 49//49 48//49
|
|
f 72//50 65//50 21//50
|
|
f 73//51 16//51 74//51
|
|
f 73//52 74//52 32//52
|
|
f 16//53 75//53 17//53
|
|
f 16//54 41//54 76//54
|
|
f 77//55 48//55 47//55
|
|
f 44//56 20//56 78//56
|
|
f 53//57 54//57 79//57
|
|
f 80//58 81//58 82//58
|
|
f 83//59 71//59 53//59
|
|
f 84//60 85//60 86//60
|
|
f 1//61 3//61 79//61
|
|
f 87//62 8//62 7//62
|
|
f 82//63 9//63 88//63
|
|
f 82//64 81//64 52//64
|
|
f 89//65 90//65 91//65
|
|
f 92//66 93//66 89//66
|
|
f 92//67 89//67 94//67
|
|
f 95//68 92//68 61//68
|
|
f 61//69 92//69 62//69
|
|
f 94//70 96//70 62//70
|
|
f 63//71 62//71 96//71
|
|
f 97//72 64//72 63//72
|
|
f 98//73 99//73 100//73
|
|
f 101//74 102//74 103//74
|
|
f 97//75 63//75 99//75
|
|
f 64//76 101//76 104//76
|
|
f 97//77 101//77 64//77
|
|
f 104//78 105//78 106//78
|
|
f 104//79 107//79 105//79
|
|
f 105//80 108//80 33//80
|
|
f 105//81 33//81 66//81
|
|
f 106//82 64//82 104//82
|
|
f 105//83 66//83 106//83
|
|
f 106//84 66//84 67//84
|
|
f 69//85 28//85 30//85
|
|
f 109//86 110//86 75//86
|
|
f 11//87 10//87 111//87
|
|
f 86//88 22//88 71//88
|
|
f 11//89 112//89 89//89
|
|
f 113//90 102//90 38//90
|
|
f 37//91 38//91 102//91
|
|
f 65//92 38//92 36//92
|
|
f 65//93 36//93 43//93
|
|
f 114//94 6//94 58//94
|
|
f 45//95 49//95 46//95
|
|
f 39//96 20//96 46//96
|
|
f 61//97 60//97 67//97
|
|
f 95//98 61//98 67//98
|
|
f 95//99 67//99 74//99
|
|
f 115//100 70//100 110//100
|
|
f 55//101 116//101 117//101
|
|
f 25//102 43//102 4//102
|
|
f 117//103 43//103 25//103
|
|
f 117//104 19//104 43//104
|
|
f 78//105 118//105 119//105
|
|
f 80//106 8//106 87//106
|
|
f 8//107 88//107 9//107
|
|
f 2//108 51//108 50//108
|
|
f 120//109 121//109 2//109
|
|
f 83//110 53//110 79//110
|
|
f 84//111 86//111 83//111
|
|
f 22//112 86//112 85//112
|
|
f 22//113 85//113 23//113
|
|
f 90//114 85//114 84//114
|
|
f 88//115 80//115 82//115
|
|
f 122//116 26//116 52//116
|
|
f 26//117 50//117 52//117
|
|
f 122//118 56//118 26//118
|
|
f 55//119 27//119 56//119
|
|
f 94//120 89//120 91//120
|
|
f 96//121 94//121 91//121
|
|
f 123//122 124//122 125//122
|
|
f 103//123 104//123 101//123
|
|
f 103//124 113//124 107//124
|
|
f 113//125 126//125 107//125
|
|
f 58//126 102//126 59//126
|
|
f 57//127 59//127 98//127
|
|
f 58//128 57//128 114//128
|
|
f 101//129 99//129 98//129
|
|
f 107//130 104//130 103//130
|
|
f 60//131 62//131 63//131
|
|
f 33//132 28//132 31//132
|
|
f 75//133 18//133 17//133
|
|
f 75//134 110//134 18//134
|
|
f 68//135 32//135 31//135
|
|
f 111//136 10//136 23//136
|
|
f 127//137 120//137 50//137
|
|
f 127//138 50//138 14//138
|
|
f 128//139 129//139 121//139
|
|
f 6//140 15//140 4//140
|
|
f 6//141 35//141 15//141
|
|
f 35//142 6//142 114//142
|
|
f 13//143 130//143 14//143
|
|
f 131//144 132//144 133//144
|
|
f 134//145 135//145 133//145
|
|
f 46//146 49//146 30//146
|
|
f 30//147 49//147 70//147
|
|
f 126//148 108//148 107//148
|
|
f 136//149 41//149 34//149
|
|
f 74//150 67//150 32//150
|
|
f 106//151 60//151 64//151
|
|
f 75//152 16//152 73//152
|
|
f 109//153 115//153 110//153
|
|
f 115//154 69//154 70//154
|
|
f 115//155 109//155 68//155
|
|
f 137//156 72//156 21//156
|
|
f 25//157 55//157 117//157
|
|
f 118//158 117//158 116//158
|
|
f 19//159 117//159 118//159
|
|
f 78//160 138//160 44//160
|
|
f 78//161 19//161 118//161
|
|
f 20//162 19//162 78//162
|
|
f 120//163 2//163 50//163
|
|
f 3//164 121//164 139//164
|
|
f 2//165 121//165 3//165
|
|
f 140//166 79//166 3//166
|
|
f 82//167 51//167 9//167
|
|
f 83//168 86//168 71//168
|
|
f 1//169 79//169 54//169
|
|
f 140//170 83//170 79//170
|
|
f 83//171 140//171 84//171
|
|
f 81//172 122//172 52//172
|
|
f 51//173 82//173 52//173
|
|
f 62//174 92//174 94//174
|
|
f 92//175 141//175 93//175
|
|
f 96//176 124//176 123//176
|
|
f 99//177 63//177 142//177
|
|
f 113//178 103//178 102//178
|
|
f 142//179 143//179 134//179
|
|
f 134//180 100//180 142//180
|
|
f 114//181 57//181 144//181
|
|
f 101//182 59//182 102//182
|
|
f 97//183 99//183 101//183
|
|
f 126//184 113//184 72//184
|
|
f 108//185 105//185 107//185
|
|
f 40//186 33//186 108//186
|
|
f 33//187 40//187 28//187
|
|
f 31//188 28//188 69//188
|
|
f 69//189 115//189 68//189
|
|
f 75//190 68//190 109//190
|
|
f 90//191 124//191 91//191
|
|
f 127//192 131//192 128//192
|
|
f 131//193 135//193 128//193
|
|
f 100//194 134//194 133//194
|
|
f 131//195 130//195 13//195
|
|
f 130//196 127//196 14//196
|
|
f 123//197 125//197 145//197
|
|
f 123//198 145//198 143//198
|
|
f 134//199 145//199 135//199
|
|
f 58//200 37//200 102//200
|
|
f 72//201 38//201 65//201
|
|
f 29//202 40//202 39//202
|
|
f 39//203 46//203 29//203
|
|
f 137//204 39//204 40//204
|
|
f 137//205 126//205 72//205
|
|
f 46//206 30//206 29//206
|
|
f 136//207 34//207 93//207
|
|
f 76//208 95//208 74//208
|
|
f 106//209 67//209 60//209
|
|
f 138//210 146//210 44//210
|
|
f 147//211 47//211 45//211
|
|
f 118//212 116//212 119//212
|
|
f 80//213 88//213 8//213
|
|
f 3//214 139//214 140//214
|
|
f 125//215 84//215 139//215
|
|
f 129//216 125//216 139//216
|
|
f 26//217 14//217 50//217
|
|
f 96//218 91//218 124//218
|
|
f 142//219 96//219 123//219
|
|
f 100//220 99//220 142//220
|
|
f 72//221 113//221 38//221
|
|
f 143//222 145//222 134//222
|
|
f 142//223 123//223 143//223
|
|
f 144//224 57//224 148//224
|
|
f 101//225 98//225 59//225
|
|
f 126//226 40//226 108//226
|
|
f 73//227 68//227 75//227
|
|
f 73//228 32//228 68//228
|
|
f 11//229 111//229 112//229
|
|
f 90//230 112//230 85//230
|
|
f 112//231 90//231 89//231
|
|
f 112//232 111//232 23//232
|
|
f 124//233 84//233 125//233
|
|
f 127//234 128//234 120//234
|
|
f 129//235 128//235 135//235
|
|
f 13//236 132//236 131//236
|
|
f 130//237 131//237 127//237
|
|
f 131//238 133//238 135//238
|
|
f 137//239 21//239 39//239
|
|
f 41//240 149//240 76//240
|
|
f 74//241 16//241 76//241
|
|
f 119//242 138//242 78//242
|
|
f 150//243 151//243 152//243
|
|
f 152//244 147//244 45//244
|
|
f 140//245 139//245 84//245
|
|
f 1//246 54//246 9//246
|
|
f 141//247 92//247 95//247
|
|
f 76//248 149//248 95//248
|
|
f 136//249 93//249 141//249
|
|
f 132//250 13//250 35//250
|
|
f 148//251 98//251 100//251
|
|
f 148//252 57//252 98//252
|
|
f 40//253 126//253 137//253
|
|
f 112//254 23//254 85//254
|
|
f 90//255 84//255 124//255
|
|
f 148//256 133//256 132//256
|
|
f 144//257 148//257 132//257
|
|
f 136//258 149//258 41//258
|
|
f 93//259 11//259 89//259
|
|
f 11//260 93//260 34//260
|
|
f 44//261 146//261 150//261
|
|
f 44//262 150//262 45//262
|
|
f 146//263 151//263 150//263
|
|
f 45//264 150//264 152//264
|
|
f 147//265 151//265 77//265
|
|
f 129//266 139//266 121//266
|
|
f 128//267 121//267 120//267
|
|
f 145//268 125//268 129//268
|
|
f 129//269 135//269 145//269
|
|
f 1//270 9//270 51//270
|
|
f 51//271 2//271 1//271
|
|
f 95//272 149//272 141//272
|
|
f 142//273 63//273 96//273
|
|
f 100//274 133//274 148//274
|
|
f 132//275 35//275 144//275
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f 77//276 47//276 147//276
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f 136//277 141//277 149//277
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f 144//278 35//278 114//278
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f 147//279 152//279 151//279
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f 71//280 24//280 151//280
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f 151//281 56//281 122//281
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f 116//282 55//282 151//281
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f 122//281 81//283 151//281
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f 12//284 42//284 151//284
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f 151//284 10//285 12//284
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f 42//284 18//286 151//284
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f 151//284 24//285 10//285
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f 151//284 80//287 87//287
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f 151//284 55//288 56//288
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f 7//289 53//289 151//289
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f 18//290 110//290 151//290
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f 48//291 77//291 151//291
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f 146//292 138//292 151//292
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f 81//293 80//293 151//293
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f 53//294 71//294 151//294
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f 151//295 110//295 70//295
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f 119//296 116//296 151//296
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f 151//296 138//297 119//296
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f 151//298 87//298 7//298
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f 70//299 48//299 151//299
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