diff --git a/.gitattributes b/.gitattributes index 3277ec4e0889dbee91b26f96577afe66266ed06a..d04b902c593760e0f261fd51e89717091dfc2953 100644 --- a/.gitattributes +++ b/.gitattributes @@ -102,3 +102,5 @@ dataset_infos.json ignore aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text +embodiments/aloha-agilex/meshes/d435.dae.backup filter=lfs diff=lfs merge=lfs -text +embodiments/franka-panda/franka_description/meshes/visual/hand.SLDPRT filter=lfs diff=lfs merge=lfs -text diff --git a/embodiments/ARX-X5/X5A.urdf b/embodiments/ARX-X5/X5A.urdf index 4b54ef915ef2689b823dc1767a8f59de518a88bb..24f163e5deafaafe89398592ac4f9405186956bb 100644 --- a/embodiments/ARX-X5/X5A.urdf +++ b/embodiments/ARX-X5/X5A.urdf @@ -1,288 +1,3 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:7aaa308a1a5b6a213d914db86ba09ddd6252f25cb498ac9a148bfa6c7166a423 +size 9218 diff --git a/embodiments/ARX-X5/collision_X5A.yml b/embodiments/ARX-X5/collision_X5A.yml index cd0eeeb1bfba715fe0e1d0db14510a8dea8698e9..ec5e577c03da30a82caf8598e9b889b1c75e3344 100644 --- a/embodiments/ARX-X5/collision_X5A.yml +++ b/embodiments/ARX-X5/collision_X5A.yml @@ -1,84 +1,3 @@ -collision_spheres: - base_link: - - "center": [-0.002, 0.004, 0.028] - "radius": 0.01504 - - "center": [-0.017, 0.0, 0.027] - "radius": 0.01423 - - "center": [0.012, 0.012, 0.028] - "radius": 0.01423 - - "center": [0.008, -0.016, 0.019] - "radius": 0.01342 - - "center": [0.015, -0.009, 0.022] - "radius": 0.01342 - - "center": [-0.015, -0.009, 0.021] - "radius": 0.01342 - - "center": [0.017, 0.002, 0.021] - "radius": 0.01342 - - "center": [0.005, 0.017, 0.025] - "radius": 0.01342 - link1: - - "center": [-0.013, -0.035, 0.006] - "radius": 0.0145 - - "center": [0.011, -0.035, 0.005] - "radius": 0.0145 - - "center": [0.004, -0.035, 0.008] - "radius": 0.01362 - link2: - - "center": [-0.257, 0.0, 0.0] - "radius": 0.04 - - "center": [-0.198, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.164, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.009, 0.006, -0.015] - "radius": 0.01357 - - "center": [-0.26, 0.008, 0.017] - "radius": 0.01357 - - "center": [-0.125, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.083, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.044, 0.0, 0.0] - "radius": 0.03 - - "center": [0.0, 0.0, 0.0] - "radius": 0.03 - link3: - - "center": [0.241, -0.0, -0.056] - "radius": 0.03 - - "center": [0.197, -0.0, -0.053] - "radius": 0.02 - - "center": [0.157, -0.0, -0.054] - "radius": 0.02 - - "center": [0.122, -0.0, -0.055] - "radius": 0.02 - - "center": [0.108, -0.0, -0.051] - "radius": 0.02 - - "center": [0.071, -0.0, -0.05] - "radius": 0.02 - - "center": [0.058, -0.0, -0.051] - "radius": 0.02 - link4: - - "center": [0.066, -0.0, -0.065] - "radius": 0.03 - link5: - - "center": [0.002, 0.0, 0.084] - "radius": 0.03 - link6: - - "center": [0.037, 0.001, 0.004] - "radius": 0.02744 - - "center": [0.036, 0.004, -0.01] - "radius": 0.02666 - - "center": [0.036, -0.012, 0.003] - "radius": 0.02587 - - "center": [0.07, 0.072, 0.0] - "radius": 0.01 - - "center": [0.068, 0.047, 0.0] - "radius": 0.01 - - "center": [0.07, -0.073, 0.0] - "radius": 0.01 - - "center": [0.069, -0.052, 0.0] - "radius": 0.01 - - "center": [0.069, 0.025, 0.0] - "radius": 0.01 - - "center": [0.071, -0.036, 0.0] - "radius": 0.01 +version https://git-lfs.github.com/spec/v1 +oid sha256:f5f196ad5fee4ffb8814a21325692dd33e462258abbaaff5a0484e3481e79543 +size 2347 diff --git a/embodiments/ARX-X5/config.yml b/embodiments/ARX-X5/config.yml index 7f56914cd8ccc41af8a325f1d2253a87c4f6ec60..1c4db8ca75c953063b41897a39c61b98be89f936 100644 --- a/embodiments/ARX-X5/config.yml +++ b/embodiments/ARX-X5/config.yml @@ -1,54 +1,3 @@ -urdf_path: "./X5A.urdf" -# srdf_path: "./X5A.srdf" -joint_stiffness: 1000 -joint_damping: 200 -gripper_stiffnes: 1000 -gripper_damping: 200 -move_group: ["link6","link6"] -ee_joints: ["joint6","joint6"] -arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'], - ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']] -gripper_name: - - base: "joint7" - mimic: [["joint8", 1., 0.]] - - base: "joint7" - mimic: [["joint8", 1., 0.]] -gripper_bias: 0.12 -gripper_scale: [-0.01, 0.045] -homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]] -delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] -# global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib -global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo -robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]] # modify -# planner: "mplib_RRT" -planner: "curobo" -dual_arm: False -grasp_perfect_direction: ['front_right', 'front_left'] -static_camera_list: -- name: head_camera - position: - - -0.032 - - -0.45 - - 1.35 - forward: - - 0 - - 0.6 - - -0.8 - left: - - -1 - - 0 - - 0 -# - name: front_camera -# type: D435 -# position: -# - 0 -# - -0.45 -# - 0.85 -# forward: -# - 0 -# - 1 -# - -0.1 -# left: -# - -1 -# - 0 -# - 0 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:0687270bb70652fb80072acbded5f134da4e930463024c856dd4f45aa5f35d03 +size 1202 diff --git a/embodiments/ARX-X5/curobo_tmp.yml b/embodiments/ARX-X5/curobo_tmp.yml index 9136681c354b4905f59409f5742c1d4727f52b5c..7d689244e942de836ab92e166ccac0fba2de8595 100644 --- a/embodiments/ARX-X5/curobo_tmp.yml +++ b/embodiments/ARX-X5/curobo_tmp.yml @@ -1,70 +1,3 @@ -robot_cfg: - kinematics: - use_usd_kinematics: False - usd_path: null - usd_robot_root: null - isaac_usd_path: null - usd_flip_joints: {} - usd_flip_joint_limits: - - urdf_path: ${ASSETS_PATH}/assets/embodiments/ARX-X5/X5A.urdf - asset_root_path: null - base_link: "base_link" - ee_link: "link6" - collision_link_names: - [ - "base_link", - "link1", - "link2", - "link3", - "link4", - "link5", - "link6" - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/ARX-X5/collision_X5A.yml - collision_sphere_buffer: 0.00 # 0.0025 - extra_collision_spheres: null - use_global_cumul: True - self_collision_ignore: - { - "base_link": ["link1", "link2", "link3"], - "link1": ["link2", "link3"], - "link2": ["link3", "link4"], - "link3": ["link4", "link5", "link6"], - "link4": ["link5", "link6"], - "link5": ["link6"], - } - - self_collision_buffer: - { - "base_link": 0.0, - "link1": 0.0, - "link2": 0.0, - "link3": 0.0, - "link4": 0.0, - "link5": 0.0, - "link6": 0.0 - } - #link_names: ["panda_link4"] - mesh_link_names: - [ - "base_link", - "link1", - "link2", - "link3", - "link4", - "link5", - "link6" - ] - lock_joints: {} - extra_links: null - cspace: - joint_names: ["joint1","joint2","joint3","joint4", "joint5","joint6"] - - retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] - null_space_weight: [1,1,1,1,1,1,1] - cspace_distance_weight: [1,1,1,1,1,1,1] - max_acceleration: 15.0 - max_jerk: 500.0 -planner: - frame_bias: [0., 0., 0.] \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:5b7486ef2ff614c36748a4913399c59e806af02f45a8185d1794fb18ee6c6128 +size 1703 diff --git a/embodiments/aloha-agilex/collision_aloha_left.yml b/embodiments/aloha-agilex/collision_aloha_left.yml index 79d456f786ad3c2ac6564f08fe883d5d58de46da..4bde6f3174b4483ad5e5b1cc34c35f6ccd96891f 100644 --- a/embodiments/aloha-agilex/collision_aloha_left.yml +++ b/embodiments/aloha-agilex/collision_aloha_left.yml @@ -1,168 +1,3 @@ -collision_spheres: -# ----------- left arm ----------- - fl_base_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fl_link1: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fl_link2: - - "center": [-0.03, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.06, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.09, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.12, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.15, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.18, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.21, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.24, 0.0, 0.0] - "radius": 0.035 - - "center": [-0.25, 0.0, 0.0] - "radius": 0.035 - - "center": [0.002, -0.001, 0.001] - "radius": 0.035 - fl_link3: - - "center": [0.02, 0.0, -0.06] - "radius": 0.035 - - "center": [0.06, 0.0, -0.06] - "radius": 0.035 - - "center": [0.01, 0.0, -0.06] - "radius": 0.035 - - "center": [-0.01, 0.0, -0.06] - "radius": 0.035 - - "center": [0.014, 0.0, -0.06] - "radius": 0.035 - - "center": [0.1, 0.0, -0.06] - "radius": 0.035 - - "center": [0.2, 0.0, -0.06] - "radius": 0.035 - - "center": [0.15, 0.0, -0.06] - "radius": 0.035 - - "center": [0.19, 0.0, -0.06] - "radius": 0.035 - - "center": [0.2, 0.0, -0.06] - "radius": 0.035 - - "center": [0.23, 0.0, -0.06] - "radius": 0.035 - - "center": [0.24, 0.0, -0.06] - "radius": 0.035 - fl_link4: - - "center": [0.06, 0.0, -0.06] - "radius": 0.03 - fl_link6: - - "center": [0.037, 0.003, 0.007] - "radius": 0.03 - fl_link7: - - "center": [0.055, -0.013, -0.0] - "radius": 0.01 - - "center": [0.021, -0.006, -0.0] - "radius": 0.01 - - "center": [0.0, 0.0, 0.0] - "radius": 0.01 - - "center": [0.04, -0.007, -0.0] - "radius": 0.01 - fl_link5: - - "center": [0.0, 0.0, 0.08] - "radius": 0.03 - fl_link8: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - - "center": [0.01, 0.0, 0.0] - "radius": 0.01 - - "center": [0.03, 0.01, 0.0] - "radius": 0.01 - - "center": [0.04, 0.013, 0.0] - "radius": 0.01 - - "center": [0.059, 0.015, 0.0] - "radius": 0.01 - left_camera: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - -# ----------- right arm ----------- - fr_base_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fr_link1: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fr_link2: - - "center": [0.0, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.03, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.06, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.09, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.12, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.16, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.19, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.21, 0.0, 0.0] - "radius": 0.03 - fr_link3: - - "center": [0.04, 0.0, -0.06] - "radius": 0.03 - - "center": [0.0, 0.0, -0.06] - "radius": 0.03 - - "center": [0.08, 0.0, -0.06] - "radius": 0.03 - - "center": [0.12, 0.0, -0.06] - "radius": 0.03 - - "center": [0.14, 0.0, -0.06] - "radius": 0.03 - - "center": [0.18, 0.0, -0.06] - "radius": 0.03 - - "center": [0.22, 0.0, -0.06] - "radius": 0.03 - - "center": [0.23, 0.0, -0.06] - "radius": 0.03 - fr_link4: - - "center": [0.065, 0.001, -0.062] - "radius": 0.027 - fr_link5: - - "center": [-0.0, -0.0, 0.077] - "radius": 0.03 - fr_link6: - - "center": [0.022, -0.0, -0.0] - "radius": 0.03 - - "center": [0.05, 0.0, 0.0] - "radius": 0.01 - - "center": [0.07, 0.0, 0.0] - "radius": 0.01 - - "center": [0.07, 0.03, 0.0] - "radius": 0.01 - - "center": [0.07, 0.06, 0.0] - "radius": 0.01 - - "center": [0.07, -0.03, 0.0] - "radius": 0.01 - - "center": [0.07, -0.06, 0.0] - "radius": 0.01 - fr_link7: - - "center": [0.009, 0.001, 0.0] - "radius": 0.02 - - "center": [0.057, -0.009, 0.0] - "radius": 0.01 - - "center": [0.037, -0.007, -0.002] - "radius": 0.01 - fr_link8: - - "center": [0.063, 0.015, 0.0] - "radius": 0.01 - - "center": [0.044, 0.013, 0.0] - "radius": 0.01 - - "center": [0.005, -0.0, 0.0] - "radius": 0.02 - right_camera: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:19e21fbba8b6657ffc6d405ac53b277902ce118821b818aa77aad2e0b0d7f83d +size 4934 diff --git a/embodiments/aloha-agilex/collision_aloha_right.yml b/embodiments/aloha-agilex/collision_aloha_right.yml index fb3d3b3809fd9d398bc17019e76f2d326da66ae2..50520d4041de875b2b86b1a5ed4de82783e87346 100644 --- a/embodiments/aloha-agilex/collision_aloha_right.yml +++ b/embodiments/aloha-agilex/collision_aloha_right.yml @@ -1,82 +1,3 @@ - -collision_spheres: - fr_base_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fr_link1: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - fr_link2: - - "center": [0.0, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.03, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.06, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.09, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.12, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.16, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.19, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.21, 0.0, 0.0] - "radius": 0.03 - fr_link3: - - "center": [0.04, 0.0, -0.06] - "radius": 0.03 - - "center": [0.0, 0.0, -0.06] - "radius": 0.03 - - "center": [0.08, 0.0, -0.06] - "radius": 0.03 - - "center": [0.12, 0.0, -0.06] - "radius": 0.03 - - "center": [0.14, 0.0, -0.06] - "radius": 0.03 - - "center": [0.18, 0.0, -0.06] - "radius": 0.03 - - "center": [0.22, 0.0, -0.06] - "radius": 0.03 - - "center": [0.23, 0.0, -0.06] - "radius": 0.03 - fr_link4: - - "center": [0.065, 0.001, -0.062] - "radius": 0.027 - fr_link5: - - "center": [-0.0, -0.0, 0.077] - "radius": 0.03 - fr_link6: - - "center": [0.022, -0.0, -0.0] - "radius": 0.03 - - "center": [0.05, 0.0, 0.0] - "radius": 0.01 - - "center": [0.07, 0.0, 0.0] - "radius": 0.01 - - "center": [0.07, 0.03, 0.0] - "radius": 0.01 - - "center": [0.07, 0.06, 0.0] - "radius": 0.01 - - "center": [0.07, -0.03, 0.0] - "radius": 0.01 - - "center": [0.07, -0.06, 0.0] - "radius": 0.01 - fr_link7: - - "center": [0.009, 0.001, 0.0] - "radius": 0.02 - - "center": [0.057, -0.009, 0.0] - "radius": 0.01 - - "center": [0.037, -0.007, -0.002] - "radius": 0.01 - fr_link8: - - "center": [0.063, 0.015, 0.0] - "radius": 0.01 - - "center": [0.044, 0.013, 0.0] - "radius": 0.01 - - "center": [0.005, -0.0, 0.0] - "radius": 0.02 - right_camera: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:d22850769a5c28fec35434e12ffb597837853cb4dd916b74969e6e615faf5cdd +size 2340 diff --git a/embodiments/aloha-agilex/config.yml b/embodiments/aloha-agilex/config.yml index 8c118a89a92436c78ebf9d967c211d09a08e3ef8..3dd3bbf7d471e22ce787e769265817a7c68d5e35 100644 --- a/embodiments/aloha-agilex/config.yml +++ b/embodiments/aloha-agilex/config.yml @@ -1,54 +1,3 @@ -urdf_path: "./urdf/arx5_description_isaac.urdf" -srdf_path: "./srdf/arx5_description_isaac.srdf" -joint_stiffness: 1000 -joint_damping: 200 -gripper_stiffness: 1000 -gripper_damping: 200 -move_group: ["fl_link6","fr_link6"] -ee_joints: ["fl_joint6", "fr_joint6"] -arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]] -gripper_name: - - base: "fl_joint7" - mimic: [["fl_joint8", 1., 0.]] - - base: "fr_joint7" - mimic: [["fr_joint8", 1., 0.]] -gripper_bias: 0.12 -gripper_scale: [-0.01, 0.045] -homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]] -delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] -global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] -robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]] -# planner: "mplib_screw" -planner: "curobo" -dual_arm: True -rotate_lim: [0, 1] -grasp_perfect_direction: ['front_right', 'front_left'] -static_camera_list: -- name: head_camera - type: D435 - position: - - -0.032 - - -0.45 - - 1.35 - forward: - - 0 - - 0.6 - - -0.8 - left: - - -1 - - 0 - - 0 -- name: front_camera - type: D435 - position: - - 0 - - -0.45 - - 0.85 - forward: - - 0 - - 1 - - -0.1 - left: - - -1 - - 0 - - 0 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:a4f043d2d4b44cca5ec47fb498a3194da3f87ff9530dcbfdcee1539a44423d57 +size 1210 diff --git a/embodiments/aloha-agilex/curobo_left_tmp.yml b/embodiments/aloha-agilex/curobo_left_tmp.yml index cc57e496fabecf08ec8874d01be285bbca0c901f..5c68a5070361b354d070f56edd77ed9093208e42 100644 --- a/embodiments/aloha-agilex/curobo_left_tmp.yml +++ b/embodiments/aloha-agilex/curobo_left_tmp.yml @@ -1,88 +1,3 @@ -robot_cfg: - kinematics: - use_usd_kinematics: False - # usd_path: "FILL_THIS" - # usd_robot_root: "/robot" - # isaac_usd_path: "" - # usd_flip_joints: {} - # usd_flip_joint_limits: [] - urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf - asset_root_path: null - - base_link: "fl_base_link" - ee_link: "fl_link6" - collision_link_names: - [ - "fl_base_link", - "fl_link1", - "fl_link2", - "fl_link3", - "fl_link4", - "fl_link5", - "fl_link6", - "fl_link7", - "fl_link8", - "left_camera" - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_left.yml - collision_sphere_buffer: 0.004 - extra_collision_spheres: {} - use_global_cumul: True - self_collision_ignore: - { - "fl_base_link": ["fl_link1"], - "fl_link1": ["fl_link2"], - "fl_link2": ["fl_link3"], - "fl_link3": ["fl_link4"], - "fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"], - "fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"], - "fl_link6": ["fl_link7", "left_camera", "fl_link8"], - "fl_link7": ["fl_link8", "left_camera"] - } - self_collision_buffer: - { - "fl_base_link": 0.00, - "fl_link1": 0.00, - "fl_link2": 0.00, - "fl_link3": 0.00, - "fl_link4": 0.00, - "fl_link5": 0.00, - "fl_link6": 0.00, - "fl_link7": 0.00, - "fl_link8": 0.00, - "left_camera": 0.00 - } - - mesh_link_names: [ - "fl_base_link", - "fl_link1", - "fl_link2", - "fl_link3", - "fl_link4", - "fl_link5", - "fl_link6", - "fl_link7", - "fl_link8", - "left_camera" - ] - lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04} - extra_links: null - - cspace: - joint_names: [ - "fl_joint1", - "fl_joint2", - "fl_joint3", - "fl_joint4", - "fl_joint5", - "fl_joint6", - "fl_joint7", - "fl_joint8" - ] - retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04] - null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - max_jerk: 100.0 - max_acceleration: 3.0 -planner: - frame_bias: [-0.2305, -0.297, -0.782] \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:5860346baf83c74da3dfacbc548f3165fe6caba5797fd28da158a618576556c8 +size 2383 diff --git a/embodiments/aloha-agilex/curobo_right_tmp.yml b/embodiments/aloha-agilex/curobo_right_tmp.yml index 29a9579dc4820d137d41105df58907b2f54769df..10558e5f022c327dcb2e811956e605cbf98ea18b 100644 --- a/embodiments/aloha-agilex/curobo_right_tmp.yml +++ b/embodiments/aloha-agilex/curobo_right_tmp.yml @@ -1,88 +1,3 @@ -robot_cfg: - kinematics: - use_usd_kinematics: False - # usd_path: "FILL_THIS" - # usd_robot_root: "/robot" - # isaac_usd_path: "" - # usd_flip_joints: {} - # usd_flip_joint_limits: [] - urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf - asset_root_path: null - - base_link: "fr_base_link" - ee_link: "fr_link6" - collision_link_names: - [ - "fr_base_link", - "fr_link1", - "fr_link2", - "fr_link3", - "fr_link4", - "fr_link5", - "fr_link6", - "fr_link7", - "fr_link8", - "right_camera" - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml - collision_sphere_buffer: 0.004 - extra_collision_spheres: {} - use_global_cumul: True - self_collision_ignore: - { - "fr_base_link": ["fr_link1"], - "fr_link1": ["fr_link2"], - "fr_link2": ["fr_link3"], - "fr_link3": ["fr_link4"], - "fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"], - "fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"], - "fr_link6": ["fr_link7", "right_camera", "fr_link8"], - "fr_link7": ["fr_link8", "right_camera"] - } - self_collision_buffer: - { - "fr_base_link": 0.00, - "fr_link1": 0.00, - "fr_link2": 0.00, - "fr_link3": 0.00, - "fr_link4": 0.00, - "fr_link5": 0.00, - "fr_link6": 0.00, - "fr_link7": 0.00, - "fr_link8": 0.00, - "right_camera": 0.00 - } - - mesh_link_names: [ - "fr_base_link", - "fr_link1", - "fr_link2", - "fr_link3", - "fr_link4", - "fr_link5", - "fr_link6", - "fr_link7", - "fr_link8", - "right_camera" - ] - lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04} - extra_links: null - - cspace: - joint_names: [ - "fr_joint1", - "fr_joint2", - "fr_joint3", - "fr_joint4", - "fr_joint5", - "fr_joint6", - "fr_joint7", - "fr_joint8" - ] - retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04] - null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - max_jerk: 100.0 - max_acceleration: 3.0 -planner: - frame_bias: [-0.2315, 0.3063, -0.781] \ No newline at end of file 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0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 6 6 5 5 7 7 6 6 7 7 8 8 8 8 7 7 9 9 8 8 9 9 10 10 10 10 9 9 11 11 10 10 11 11 12 12 12 12 11 11 13 13 14 14 15 15 16 16 16 16 15 15 17 17 16 16 17 17 18 18 18 18 17 17 19 19 18 18 19 19 20 20 20 20 19 19 21 21 20 20 21 21 22 22 22 22 21 21 23 23 22 22 23 23 24 24 24 24 23 23 25 25 24 24 25 25 26 26 26 26 25 25 27 27 28 28 29 29 30 30 30 30 29 29 31 31 30 30 31 31 32 32 32 32 31 31 33 33 32 32 33 33 34 34 34 34 33 33 35 35 34 34 35 35 36 36 36 36 35 35 37 37 36 36 37 37 38 38 38 38 37 37 39 39 38 38 39 39 40 40 40 40 39 39 41 41 42 42 43 43 44 44 44 44 43 43 45 45 44 44 45 45 46 46 46 46 45 45 47 47 46 46 47 47 48 48 48 48 47 47 49 49 48 48 49 49 50 50 50 50 49 49 51 51 50 50 51 51 52 52 52 52 51 51 53 53 52 52 53 53 54 54 54 54 53 53 55 55 56 56 57 57 58 58 58 58 57 57 59 59 4 4 6 6 38 38 60 60 48 48 50 50 38 38 6 6 36 36 48 48 60 60 46 46 46 46 60 60 61 61 46 46 61 61 44 44 32 32 34 34 61 61 61 61 34 34 36 36 16 16 61 61 14 14 14 14 61 61 62 62 63 63 64 64 20 20 20 20 64 64 65 65 20 20 65 65 42 42 66 66 67 67 54 54 54 54 67 67 60 60 54 54 60 60 52 52 52 52 60 60 50 50 36 36 6 6 61 61 61 61 6 6 68 68 61 61 68 68 62 62 20 20 22 22 63 63 63 63 22 22 24 24 63 63 24 24 26 26 69 69 70 70 71 71 71 71 70 70 72 72 71 71 72 72 40 40 40 40 72 72 0 0 40 40 0 0 38 38 38 38 0 0 2 2 38 38 2 2 4 4 67 67 73 73 69 69 69 69 71 71 67 67 67 67 71 71 74 74 67 67 74 74 75 75 75 75 74 74 76 76 75 75 76 76 77 77 77 77 78 78 75 75 75 75 78 78 28 28 75 75 28 28 61 61 61 61 28 28 30 30 61 61 30 30 32 32 16 16 18 18 61 61 61 61 18 18 20 20 61 61 20 20 44 44 44 44 20 20 42 42 10 10 12 12 67 67 67 67 12 12 79 79 67 67 79 79 73 73 26 26 80 80 63 63 63 63 80 80 67 67 63 63 67 67 81 81 81 81 67 67 66 66 80 80 82 82 67 67 67 67 82 82 83 83 67 67 83 83 10 10 10 10 83 83 68 68 10 10 68 68 8 8 8 8 68 68 6 6 84 84 85 85 86 86 87 87 84 84 88 88 88 88 84 84 86 86 88 88 86 86 89 89 89 89 86 86 90 90 89 89 90 90 91 91 92 92 93 93 94 94 95 95 92 92 96 96 96 96 92 92 94 94 96 96 94 94 97 97 97 97 94 94 98 98 97 97 98 98 99 99 100 100 101 101 102 102 102 102 101 101 103 103 102 102 103 103 104 104 105 105 102 102 106 106 106 106 102 102 104 104 106 106 104 104 107 107 107 107 104 104 108 108 107 107 108 108 61 61 109 109 110 110 111 111 61 61 111 111 112 112 90 90 113 113 114 114 110 110 56 56 111 111 111 111 56 56 58 58 111 111 58 58 115 115 116 116 117 117 99 99 118 118 91 91 119 119 119 119 91 91 120 120 119 119 120 120 100 100 100 100 120 120 121 121 100 100 121 121 101 101 117 117 122 122 99 99 99 99 122 122 123 123 99 99 123 123 97 97 97 97 123 123 124 124 97 97 124 124 125 125 126 126 127 127 112 112 112 112 127 127 128 128 112 112 128 128 129 129 125 125 130 130 97 97 97 97 130 130 131 131 97 97 131 131 126 126 126 126 131 131 132 132 126 126 132 132 127 127 58 58 133 133 115 115 115 115 133 133 134 134 115 115 134 134 90 90 90 90 134 134 135 135 90 90 135 135 113 113 129 129 136 136 112 112 112 112 136 136 137 137 112 112 137 137 61 61 61 61 137 137 138 138 61 61 138 138 75 75 139 139 140 140 141 141 141 141 140 140 116 116 141 141 116 116 142 142 142 142 116 116 99 99 114 114 143 143 90 90 90 90 143 143 144 144 90 90 144 144 91 91 91 91 144 144 145 145 91 91 145 145 120 120 108 108 146 146 61 61 61 61 146 146 147 147 61 61 147 147 111 111 111 111 147 147 148 148 111 111 148 148 109 109 138 138 149 149 75 75 75 75 149 149 150 150 75 75 150 150 151 151 151 151 150 150 152 152 151 151 152 152 153 153 153 153 152 152 154 154 153 153 154 154 155 155 155 155 154 154 156 156 155 155 156 156 139 139 139 139 156 156 157 157 139 139 157 157 140 140 67 67 75 75 151 151 67 67 151 151 158 158 158 158 151 151 153 153 158 158 153 153 159 159 159 159 153 153 155 155 159 159 155 155 160 160 161 161 162 162 163 163 161 161 163 163 164 164 165 165 166 166 163 163 163 163 166 166 167 167 163 163 167 167 164 164 168 168 169 169 170 170 170 170 169 169 171 171 170 170 171 171 172 172 168 168 173 173 169 169 169 169 173 173 174 174 169 169 174 174 175 175 176 176 177 177 165 165 176 176 165 165 178 178 179 179 180 180 181 181 57 57 182 182 183 183 183 183 182 182 184 184 185 185 186 186 170 170 187 187 188 188 67 67 67 67 188 188 189 189 67 67 189 189 190 190 60 60 67 67 191 191 191 191 67 67 192 192 193 193 194 194 195 195 195 195 194 194 196 196 195 195 196 196 197 197 197 197 196 196 172 172 160 160 198 198 159 159 159 159 198 198 187 187 159 159 187 187 158 158 158 158 187 187 67 67 177 177 199 199 165 165 165 165 199 199 200 200 165 165 200 200 166 166 199 199 201 201 200 200 200 200 201 201 202 202 200 200 202 202 203 203 203 203 202 202 204 204 203 203 204 204 205 205 205 205 204 204 206 206 205 205 206 206 207 207 207 207 206 206 208 208 207 207 208 208 160 160 160 160 208 208 209 209 160 160 209 209 198 198 184 184 192 192 183 183 183 183 192 192 67 67 183 183 67 67 179 179 179 179 67 67 190 190 179 179 190 190 180 180 186 186 210 210 170 170 170 170 210 210 211 211 170 170 211 211 212 212 212 212 211 211 213 213 212 212 213 213 183 183 183 183 213 213 59 59 183 183 59 59 57 57 178 178 165 165 214 214 214 214 165 165 215 215 214 214 215 215 216 216 191 191 217 217 60 60 60 60 217 217 218 218 60 60 218 218 219 219 219 219 218 218 220 220 219 219 220 220 221 221 221 221 220 220 222 222 222 222 220 220 223 223 223 223 220 220 224 224 223 223 224 224 193 193 193 193 224 224 225 225 193 193 225 225 194 194 181 181 226 226 179 179 179 179 226 226 227 227 179 179 227 227 215 215 215 215 227 227 228 228 215 215 228 228 216 216 196 196 229 229 172 172 172 172 229 229 230 230 172 172 230 230 170 170 170 170 230 230 231 231 170 170 231 231 185 185 223 223 102 102 105 105 223 223 105 105 222 222 222 222 105 105 106 106 222 222 106 106 221 221 221 221 106 106 107 107 221 221 107 107 219 219 219 219 107 107 61 61 219 219 61 61 60 60 12 12 13 13 79 79 79 79 13 13 232 232 79 79 232 232 73 73 73 73 232 232 233 233 73 73 233 233 69 69 69 69 233 233 234 234 69 69 234 234 70 70 70 70 234 234 235 235 70 70 235 235 72 72 72 72 235 235 236 236 72 72 236 236 0 0 0 0 236 236 1 1 26 26 27 27 80 80 80 80 27 27 237 237 80 80 237 237 82 82 82 82 237 237 238 238 82 82 238 238 83 83 83 83 238 238 239 239 83 83 239 239 68 68 68 68 239 239 240 240 68 68 240 240 62 62 62 62 240 240 241 241 62 62 241 241 14 14 14 14 241 241 15 15 40 40 41 41 71 71 71 71 41 41 242 242 71 71 242 242 74 74 74 74 242 242 243 243 74 74 243 243 76 76 76 76 243 243 244 244 76 76 244 244 77 77 77 77 244 244 245 245 77 77 245 245 78 78 78 78 245 245 246 246 78 78 246 246 28 28 28 28 246 246 29 29 54 54 55 55 66 66 66 66 55 55 247 247 66 66 247 247 81 81 81 81 247 247 248 248 81 81 248 248 63 63 63 63 248 248 249 249 63 63 249 249 64 64 64 64 249 249 250 250 64 64 250 250 65 65 65 65 250 250 251 251 65 65 251 251 42 42 42 42 251 251 43 43 160 160 155 155 207 207 207 207 155 155 139 139 207 207 139 139 141 141 207 207 141 141 205 205 205 205 141 141 142 142 205 205 142 142 203 203 203 203 142 142 99 99 203 203 99 99 200 200 200 200 99 99 166 166 166 166 99 99 98 98 164 164 93 93 161 161 161 161 93 93 92 92 161 161 92 92 162 162 162 162 92 92 95 95 162 162 95 95 163 163 163 163 95 95 96 96 163 163 96 96 165 165 165 165 96 96 97 97 165 165 97 97 215 215 215 215 97 97 126 126 215 215 126 126 179 179 179 179 126 126 112 112 235 235 234 234 242 242 47 47 45 45 239 239 242 242 234 234 243 243 3 3 1 1 41 41 243 243 234 234 244 244 244 244 234 234 112 112 244 244 112 112 245 245 248 248 247 247 179 179 179 179 247 247 55 55 179 179 55 55 183 183 47 47 239 239 49 49 49 49 239 239 238 238 49 49 238 238 237 237 41 41 1 1 242 242 242 242 1 1 236 236 242 242 236 236 235 235 33 33 31 31 111 111 111 111 31 31 29 29 111 111 29 29 112 112 112 112 29 29 246 246 112 112 246 246 245 245 13 13 11 11 183 183 3 3 41 41 5 5 5 5 41 41 39 39 5 5 39 39 7 7 7 7 39 39 37 37 7 7 37 37 35 35 241 241 240 240 112 112 112 112 240 240 239 239 55 55 53 53 183 183 183 183 53 53 51 51 183 183 51 51 49 49 13 13 183 183 232 232 232 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66 66 66 66 32 32 34 34 20 20 60 60 66 66 20 20 22 22 60 60 60 60 22 22 24 24 60 60 24 24 26 26 36 36 38 38 14 14 14 14 38 38 40 40 14 14 40 40 61 61 61 61 40 40 67 67 61 61 67 67 62 62 36 36 14 14 34 34 34 34 14 14 16 16 34 34 16 16 66 66 66 66 16 16 18 18 66 66 18 18 20 20 68 68 69 69 70 70 70 70 69 69 71 71 72 72 73 73 74 74 58 58 62 62 4 4 4 4 62 62 75 75 4 4 75 75 2 2 2 2 75 75 76 76 2 2 76 76 65 65 65 65 76 76 77 77 65 65 77 77 66 66 66 66 77 77 28 28 66 66 28 28 30 30 48 48 50 50 60 60 60 60 50 50 52 52 60 60 52 52 70 70 70 70 52 52 54 54 70 70 54 54 68 68 63 63 65 65 78 78 78 78 65 65 70 70 78 78 70 70 72 72 72 72 70 70 71 71 72 72 71 71 73 73 26 26 56 56 60 60 60 60 56 56 8 8 60 60 8 8 44 44 44 44 8 8 10 10 44 44 10 10 42 42 42 42 10 10 12 12 42 42 12 12 74 74 74 74 12 12 79 79 74 74 79 79 72 72 80 80 81 81 82 82 82 82 81 81 70 70 82 82 70 70 83 83 83 83 70 70 65 65 83 83 65 65 84 84 84 84 65 65 85 85 70 70 81 81 60 60 60 60 81 81 86 86 60 60 86 86 87 87 88 88 89 89 90 90 90 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67 68 68 68 68 67 67 69 69 70 70 71 71 72 72 72 72 71 71 73 73 72 72 73 73 74 74 74 74 73 73 75 75 74 74 75 75 76 76 76 76 75 75 77 77 76 76 77 77 78 78 78 78 77 77 79 79 78 78 79 79 80 80 80 80 79 79 81 81 80 80 81 81 82 82 82 82 81 81 83 83 84 84 85 85 86 86 86 86 85 85 87 87 86 86 87 87 88 88 88 88 87 87 89 89 88 88 89 89 90 90 90 90 89 89 91 91 90 90 91 91 92 92 92 92 91 91 93 93 92 92 93 93 94 94 94 94 93 93 95 95 94 94 95 95 96 96 96 96 95 95 97 97 98 98 99 99 100 100 100 100 99 99 101 101 100 100 101 101 102 102 102 102 101 101 103 103 102 102 103 103 104 104 104 104 103 103 105 105 104 104 105 105 106 106 106 106 105 105 107 107 106 106 107 107 108 108 108 108 107 107 109 109 108 108 109 109 110 110 110 110 109 109 111 111 112 112 113 113 114 114 114 114 113 113 115 115 114 114 115 115 116 116 117 117 118 118 119 119 120 120 114 114 121 121 121 121 114 114 116 116 116 116 122 122 123 123 124 124 125 125 123 123 123 123 125 125 126 126 123 123 126 126 116 116 116 116 126 126 117 117 116 116 117 117 121 121 121 121 117 117 119 119 114 114 127 127 128 128 129 129 130 130 128 128 128 128 130 130 112 112 128 128 112 112 114 114 130 130 131 131 112 112 112 112 131 131 113 113 131 131 132 132 113 113 113 113 132 132 133 133 113 113 133 133 115 115 115 115 133 133 134 134 134 134 135 135 115 115 115 115 135 135 116 116 136 136 121 121 137 137 137 137 121 121 119 119 138 138 13 13 118 118 118 118 13 13 119 119 139 139 15 15 140 140 140 140 15 15 141 141 140 140 141 141 142 142 13 13 11 11 119 119 119 119 11 11 9 9 119 119 9 9 7 7 137 137 19 19 139 139 139 139 19 19 17 17 139 139 17 17 15 15 143 143 144 144 140 140 140 140 144 144 145 145 140 140 145 145 118 118 118 118 145 145 146 146 118 118 146 146 138 138 5 5 27 27 7 7 7 7 27 27 25 25 7 7 25 25 119 119 119 119 25 25 23 23 119 119 23 23 137 137 137 137 23 23 21 21 137 137 21 21 19 19 142 142 147 147 140 140 140 140 147 147 148 148 140 140 148 148 143 143 143 143 148 148 149 149 143 143 149 149 1 1 1 1 149 149 27 27 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67 68 68 68 68 67 67 62 62 68 68 62 62 69 69 69 69 62 62 63 63 70 70 71 71 72 72 72 72 73 73 70 70 70 70 73 73 74 74 70 70 74 74 75 75 74 74 76 76 75 75 75 75 76 76 77 77 75 75 77 77 78 78 78 78 77 77 79 79 78 78 79 79 80 80 79 79 81 81 80 80 80 80 81 81 82 82 80 80 82 82 83 83 83 83 82 82 84 84 85 85 86 86 87 87 87 87 86 86 88 88 87 87 88 88 89 89 89 89 88 88 83 83 89 89 83 83 90 90 90 90 83 83 84 84 91 91 92 92 93 93 93 93 94 94 91 91 91 91 94 94 95 95 91 91 95 95 96 96 95 95 97 97 96 96 96 96 97 97 98 98 96 96 98 98 99 99 99 99 98 98 100 100 99 99 100 100 101 101 100 100 102 102 101 101 101 101 102 102 103 103 101 101 103 103 104 104 104 104 103 103 105 105 106 106 107 107 108 108 108 108 107 107 109 109 108 108 109 109 110 110 110 110 109 109 104 104 110 110 104 104 111 111 111 111 104 104 105 105 43 43 45 45 112 112 112 112 45 45 113 113 45 45 47 47 113 113 113 113 47 47 48 48 113 113 48 48 114 114 48 48 42 42 114 114 114 114 42 42 40 40 114 114 40 40 115 115 40 40 39 39 115 115 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All rights reserved. -## -## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual -## property and proprietary rights in and to this material, related -## documentation and any modifications thereto. Any use, reproduction, -## disclosure or distribution of this material and related documentation -## without an express license agreement from NVIDIA CORPORATION or -## its affiliates is strictly prohibited. -## -collision_spheres: - panda_link0: - - "center": [0.0, 0.0, 0.085] - "radius": 0.03 #0.07 - - "center": [-0.1, -0.0, 0.085] - "radius": 0.03 #0.07 - panda_link1: - - "center": [0.0, -0.08, 0.0] - "radius": 0.055 - - "center": [0.0, -0.03, 0.0] - "radius": 0.06 - - "center": [0.0, 0.0, -0.12] - "radius": 0.06 - - "center": [0.0, 0.0, -0.17] - "radius": 0.06 - panda_link2: - - "center": [0.0, 0.0, 0.03] - "radius": 0.055 - - "center": [0.0, 0.0, 0.08] - "radius": 0.055 - - "center": [0.0, -0.12, 0.0] - "radius": 0.055 - - "center": [0.0, -0.17, 0.0] - "radius": 0.055 - panda_link3: - - "center": [0.0, 0.0, -0.06] - "radius": 0.05 - - "center": [0.0, 0.0, -0.1] - "radius": 0.06 - - "center": [0.08, 0.06, 0.0] - "radius": 0.052 - - "center": [0.08, 0.02, 0.0] - "radius": 0.052 - panda_link4: - - "center": [0.0, 0.0, 0.02] - "radius": 0.052 - - "center": [0.0, 0.0, 0.06] - "radius": 0.052 - - "center": [-0.08, 0.095, 0.0] - "radius": 0.055 - - "center": [-0.08, 0.06, 0.0] - "radius": 0.052 - panda_link5: - - "center": [0.0, 0.03, 0.0] - "radius": 0.05 - - "center": [0.0, 0.082, 0.0] - "radius": 0.05 - - "center": [0.0, 0.000, -0.22] - "radius": 0.05 - - "center": [0.0, 0.052, -0.18] - "radius": 0.04 - - "center": [0.01, 0.08, -0.14] - "radius": 0.022 - - "center": [0.01, 0.085, -0.11] - "radius": 0.022 - - "center": [0.01, 0.09, -0.08] - "radius": 0.022 - - "center": [0.01, 0.095, -0.05] - "radius": 0.022 - - "center": [-0.01, 0.08, -0.14] - "radius": 0.022 - - "center": [-0.01, 0.085, -0.11] - "radius": 0.022 - - "center": [-0.01, 0.09, -0.08] - "radius": 0.022 - - "center": [-0.01, 0.095, -0.05] - "radius": 0.022 - - "center": [0.0, -0.009, 0.0] - "radius": 0.05 - panda_link6: - - "center": [0.085, 0.035, 0.0] - "radius": 0.045 - - "center": [0.085, 0.0, 0.0] - "radius": 0.045 - - "center": [0.085, -0.015, 0.0] - "radius": 0.045 - panda_link7: - - "center": [0.0, 0.0, 0.07] - "radius": 0.045 - - "center": [0.02, 0.04, 0.08] - "radius": 0.024 - - "center": [0.04, 0.02, 0.08] - "radius": 0.024 - - "center": [0.04, 0.06, 0.085] - "radius": 0.02 - - "center": [0.06, 0.04, 0.085] - "radius": 0.02 - panda_hand: - - "center": [0.0, -0.075, 0.01] - "radius": 0.023 - - "center": [0.0, -0.045, 0.01] - "radius": 0.023 - - "center": [0.0, -0.015, 0.01] - "radius": 0.023 - - "center": [0.0, 0.015, 0.01] - "radius": 0.023 - - "center": [0.0, 0.045, 0.01] - "radius": 0.023 - - "center": [0.0, 0.075, 0.01] - "radius": 0.023 - - "center": [0.0, -0.08, 0.03] - "radius": 0.022 - - "center": [0.0, -0.045, 0.03] - "radius": 0.022 - - "center": [0.0, -0.015, 0.03] - "radius": 0.022 - - "center": [0.0, 0.015, 0.03] - "radius": 0.022 - - "center": [0.0, 0.045, 0.03] - "radius": 0.022 - - "center": [0.0, 0.08, 0.03] - "radius": 0.022 - - "center": [0.0, -0.08, 0.045] - "radius": 0.022 - - "center": [0.0, -0.045, 0.045] - "radius": 0.022 - - "center": [0.0, -0.015, 0.045] - "radius": 0.022 - - "center": [0.0, 0.015, 0.045] - "radius": 0.022 - - "center": [0.0, 0.045, 0.045] - "radius": 0.022 - - "center": [0.0, 0.08, 0.045] - "radius": 0.022 - panda_leftfinger: - - "center": [0.0, 0.01, 0.043] - "radius": 0.011 - - "center": [0.0, 0.02, 0.015] - "radius": 0.011 - panda_rightfinger: - - "center": [0.0, -0.01, 0.043] - "radius": 0.011 - - "center": [0.0, -0.02, 0.015] - "radius": 0.011 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:6e3e032a01cc0904b115d24953b2b55d0a91e79d6965b8f0bc224ad2591dec83 +size 4679 diff --git a/embodiments/franka-panda/config.yml b/embodiments/franka-panda/config.yml index f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0..26b00cfc950ded30fc1794742f4b8b4de5501d4d 100644 --- a/embodiments/franka-panda/config.yml +++ b/embodiments/franka-panda/config.yml @@ -1,60 +1,3 @@ -urdf_path: "./panda.urdf" -srdf_path: "./panda.srdf" -joint_stiffness: 1000 -joint_damping: 200 -gripper_stiffnes: 1000 -gripper_damping: 200 -move_group: ["panda_hand","panda_hand"] -ee_joints: ["panda_hand_joint","panda_hand_joint"] -arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'], - ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']] -# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"], -# ["panda_finger_joint1", "panda_finger_joint2"]] -gripper_name: - - base: "panda_finger_joint1" - mimic: [["panda_finger_joint2", 1., 0.]] - - base: "panda_finger_joint1" - mimic: [["panda_finger_joint2", 1., 0.]] -gripper_bias: 0.08 -gripper_scale: [-0.01, 0.05] -homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483], - [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]] -# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04], -# [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]] -delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]] -global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] -robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707], - [0, -0.65, 0.75, 0.707, 0, 0, 0.707]] # modify -# planner: "mplib_screw" # mplib_screw -planner: "curobo" -dual_arm: False -rotate_lim: [0.1, 0.8] -grasp_perfect_direction: ['right', 'left'] -static_camera_list: -- name: head_camera - position: - - -0.032 - - -0.45 - - 1.35 - forward: - - 0 - - 0.6 - - -0.8 - left: - - -1 - - 0 - - 0 -# - name: front_camera -# type: D435 -# position: -# - 0 -# - -0.45 -# - 0.85 -# forward: -# - 0 -# - 1 -# - -0.1 -# left: -# - -1 -# - 0 -# - 0 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:e9826ccd545276275a5a2759331429100c7383b371b62146462816bd48852d93 +size 1905 diff --git a/embodiments/franka-panda/curobo_tmp.yml b/embodiments/franka-panda/curobo_tmp.yml index 30665b59691883f1f2806d77f439a655a2d3902a..459ba461af69653cc71ca518bc5d7b9d2ed6b8ee 100644 --- a/embodiments/franka-panda/curobo_tmp.yml +++ b/embodiments/franka-panda/curobo_tmp.yml @@ -1,117 +1,3 @@ -## -## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. -## -## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual -## property and proprietary rights in and to this material, related -## documentation and any modifications thereto. Any use, reproduction, -## disclosure or distribution of this material and related documentation -## without an express license agreement from NVIDIA CORPORATION or -## its affiliates is strictly prohibited. -## - -robot_cfg: - kinematics: - use_usd_kinematics: False - # isaac_usd_path: "/Isaac/Robots/Franka/franka.usd" - # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda" - # usd_robot_root: "/panda" - # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5", - # "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"] - # usd_flip_joints: { - # "panda_joint1": "Z", - # "panda_joint2": "Z", - # "panda_joint3": "Z", - # "panda_joint4": "Z", - # "panda_joint5": "Z", - # "panda_joint6": "Z", - # "panda_joint7": "Z", - # "panda_finger_joint1": "Y", - # "panda_finger_joint2": "Y", - # } - - # usd_flip_joint_limits: ["panda_finger_joint2"] - urdf_path: ${ASSETS_PATH}/assets/embodiments/franka-panda/panda.urdf - asset_root_path: null #"robot/franka_description" - base_link: "panda_link0" - ee_link: "panda_hand" - collision_link_names: - [ - "panda_link0", - "panda_link1", - "panda_link2", - "panda_link3", - "panda_link4", - "panda_link5", - "panda_link6", - "panda_link7", - "panda_hand", - "panda_leftfinger", - "panda_rightfinger", - "attached_object", - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/franka-panda/collision_franka.yml - collision_sphere_buffer: 0.004 # 0.0025 - extra_collision_spheres: {"attached_object": 4} - use_global_cumul: True - self_collision_ignore: - { - "panda_link0": ["panda_link1", "panda_link2"], - "panda_link1": ["panda_link2", "panda_link3", "panda_link4"], - "panda_link2": ["panda_link3", "panda_link4"], - "panda_link3": ["panda_link4", "panda_link6"], - "panda_link4": - ["panda_link5", "panda_link6", "panda_link7", "panda_link8"], - "panda_link5": ["panda_link6", "panda_link7", "panda_hand","panda_leftfinger", "panda_rightfinger"], - "panda_link6": ["panda_link7", "panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"], - "panda_link7": ["panda_hand", "attached_object", "panda_leftfinger", "panda_rightfinger"], - "panda_hand": ["panda_leftfinger", "panda_rightfinger","attached_object"], - "panda_leftfinger": ["panda_rightfinger", "attached_object"], - "panda_rightfinger": ["attached_object"], - - } - - self_collision_buffer: - { - "panda_link0": 0.1, - "panda_link1": 0.05, - "panda_link2": 0.0, - "panda_link3": 0.0, - "panda_link4": 0.0, - "panda_link5": 0.0, - "panda_link6": 0.0, - "panda_link7": 0.0, - "panda_hand": 0.02, - "panda_leftfinger": 0.01, - "panda_rightfinger": 0.01, - "attached_object": 0.0, - } - #link_names: ["panda_link4"] - mesh_link_names: - [ - "panda_link0", - "panda_link1", - "panda_link2", - "panda_link3", - "panda_link4", - "panda_link5", - "panda_link6", - "panda_link7", - "panda_hand", - "panda_leftfinger", - "panda_rightfinger", - ] - lock_joints: {"panda_finger_joint1": 0.04, "panda_finger_joint2": 0.04} - extra_links: {"attached_object":{"parent_link_name": "panda_hand" , - "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED", - "joint_name": "attach_joint" }} - cspace: - joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5", - "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"] - # 0.2200, -1.4012, -0.0406, -1.4901, 0.3050, 0.4521, 0.2099 - retract_config: [0.2200, -1.4012, -0.0406, -1.4901, 0.3050, 0.4521, 0.2099, 0.04, 0.04] - null_space_weight: [1,1,1,1,1,1,1,1,1] - cspace_distance_weight: [1,1,1,1,1,1,1,1,1] - max_acceleration: 15.0 - max_jerk: 500.0 -planner: - frame_bias: [0., 0., 0.] \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:8cb3568cbcf75a661ba877db29b6e8191b9cd6106aba514c42b16a27b57cfb82 +size 4401 diff --git a/embodiments/franka-panda/franka_description/meshes/collision/finger.stl b/embodiments/franka-panda/franka_description/meshes/collision/finger.stl index 3b87289fea8128bcec3e0b4d174b169124e8e444..ef5e672efbb990561b36fcee2c15b2f61cf42065 100644 Binary files a/embodiments/franka-panda/franka_description/meshes/collision/finger.stl and b/embodiments/franka-panda/franka_description/meshes/collision/finger.stl differ diff --git a/embodiments/franka-panda/franka_description/meshes/collision/hand.stl b/embodiments/franka-panda/franka_description/meshes/collision/hand.stl index 4e820902eba7b9d959a2e0cc8091f4b0f09ed77a..bb315217a60e27343b84a9d4e3a4686762c4fc8d 100644 Binary files a/embodiments/franka-panda/franka_description/meshes/collision/hand.stl and b/embodiments/franka-panda/franka_description/meshes/collision/hand.stl differ diff --git a/embodiments/franka-panda/franka_description/meshes/collision/link0.stl b/embodiments/franka-panda/franka_description/meshes/collision/link0.stl index 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b/embodiments/franka-panda/franka_description/meshes/visual/camera_base.glb index 98daf70760e5d7db683649e946c22e76124429f4..49e8de085296a084e6fb38e5ea8958e5a1383c4f 100644 Binary files a/embodiments/franka-panda/franka_description/meshes/visual/camera_base.glb and b/embodiments/franka-panda/franka_description/meshes/visual/camera_base.glb differ diff --git a/embodiments/franka-panda/franka_description/meshes/visual/finger.glb b/embodiments/franka-panda/franka_description/meshes/visual/finger.glb index 929d94a42854f98d18eed7df783c10488451d382..2a3b5f00e9128f1696c9f55741083293325586ad 100644 Binary files a/embodiments/franka-panda/franka_description/meshes/visual/finger.glb and b/embodiments/franka-panda/franka_description/meshes/visual/finger.glb differ diff --git a/embodiments/franka-panda/panda.srdf b/embodiments/franka-panda/panda.srdf index 3338cfc04199c386e47092bb518239306c8d90f7..997b9097cda07d2cb12f8e27fc06797b85d123a9 100644 --- a/embodiments/franka-panda/panda.srdf +++ b/embodiments/franka-panda/panda.srdf @@ -1,80 +1,3 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:1bec75ff5ff599f6c368208149ba1a999d65230c0ff834228ecff5525ddc6224 +size 5724 diff --git a/embodiments/franka-panda/panda.urdf b/embodiments/franka-panda/panda.urdf index a60b9a3ef06e989ec52bd0f894687a252751caf4..53503122b7c290f96a23991512208786c61bfccc 100644 --- a/embodiments/franka-panda/panda.urdf +++ b/embodiments/franka-panda/panda.urdf @@ -1,256 +1,3 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:be80276223ca90363197d4316230173815b5ea45b1733ac514eb572ff1db786f +size 8664 diff --git a/embodiments/piper/collision_piper.yml b/embodiments/piper/collision_piper.yml index 71cf19cfb750144ac65ae984ee491bd721d482f2..877fc52ec718bd378fbecf1166a6055422f249c9 100644 --- a/embodiments/piper/collision_piper.yml +++ b/embodiments/piper/collision_piper.yml @@ -1,74 +1,3 @@ -collision_spheres: - base_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.02 - link1: - - "center": [0.0, 0.0, 0.0] - "radius": 0.04 - link2: - - "center": [0.0, 0.0, 0.0] - "radius": 0.03 - - "center": [0.03, 0.0, 0.0] - "radius": 0.03 - - "center": [0.06, 0.0, 0.0] - "radius": 0.03 - - "center": [0.09, -0.007, 0.0] - "radius": 0.03 - - "center": [0.12, -0.009, 0.0] - "radius": 0.03 - - "center": [0.15, -0.011, 0.0] - "radius": 0.03 - - "center": [0.18, -0.014, 0.0] - "radius": 0.03 - - "center": [0.21, -0.017, 0.0] - "radius": 0.03 - - "center": [0.146, -0.003, 0.0] - "radius": 0.03 - link3: - - "center": [0.0, 0.0, 0.0] - "radius": 0.03 - - "center": [-0.033, 0.021, 0.0] - "radius": 0.03 - - "center": [-0.048, 0.024, -0.0] - "radius": 0.02 - - "center": [-0.067, 0.033, 0.0] - "radius": 0.02 - - "center": [-0.08, 0.039, 0.0] - "radius": 0.02 - - "center": [-0.102, 0.04, -0.003] - "radius": 0.02 - - "center": [-0.137, 0.047, -0.003] - "radius": 0.02 - - "center": [-0.161, 0.052, 0.0] - "radius": 0.02 - - "center": [-0.17, 0.055, 0.0] - "radius": 0.03 - link4: - - "center": [-0.005, 0.0, 0.004] - "radius": 0.03 - link5: - - "center": [0.0, 0.064, -0.0] - "radius": 0.03 - link6: - - "center": [0.005, 0.0, 0.03] - "radius": 0.03 - - "center": [0.001, 0.055, 0.055] - "radius": 0.01 - - "center": [0.001, 0.033, 0.054] - "radius": 0.01 - - "center": [-0.001, -0.037, 0.056] - "radius": 0.01 - link7: - - "center": [-0.0, -0.008, -0.007] - "radius": 0.01 - - "center": [0.003, -0.047, -0.019] - "radius": 0.01 - link8: - - "center": [-0.001, -0.031, -0.009] - "radius": 0.01 - - "center": [-0.001, 0.007, -0.008] - "radius": 0.01 - - "center": [-0.001, 0.05, -0.012] - "radius": 0.01 - - "center": [-0.001, 0.03, -0.011] - "radius": 0.01 +version https://git-lfs.github.com/spec/v1 +oid sha256:61b272ee694afeff9500a35a03ba7897b00e0a47d3fce704efbc8b0727ee7843 +size 2222 diff --git a/embodiments/piper/config.yml b/embodiments/piper/config.yml index 6e679e249cd9a619de0950772b9fa05c7464a2b9..0fa975a4de9644ccee08c45df0eac9748ec9c87e 100644 --- a/embodiments/piper/config.yml +++ b/embodiments/piper/config.yml @@ -1,54 +1,3 @@ -urdf_path: "./piper.urdf" -srdf_path: "./piper.srdf" -joint_stiffness: 1000 -joint_damping: 200 -gripper_stiffnes: 1000 -gripper_damping: 200 -move_group: ["link6","link6"] -ee_joints: ["joint6","joint6"] -arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'], - ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']] -gripper_name: - - base: "joint7" - mimic: [["joint8", 1., 0.]] - - base: "joint7" - mimic: [["joint8", 1., 0.]] -gripper_bias: 0.12 -gripper_scale: [-0.01, 0.04] -homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]] -delta_matrix: [[0,0,-1],[0,1,0],[1,0,0]] -global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] -robot_pose: [[0, -0.45, 0.75, 0.707, 0, 0, 0.707]] # modify -# planner: "mplib_RRT" -planner: "curobo" -dual_arm: False -rotate_lim: [0.2, 1] -grasp_perfect_direction: ['front_right', 'front_left'] -static_camera_list: -- name: head_camera - position: - - -0.032 - - -0.45 - - 1.35 - forward: - - 0 - - 0.6 - - -0.8 - left: - - -1 - - 0 - - 0 -# - name: front_camera -# type: D435 -# position: -# - 0 -# - -0.45 -# - 0.85 -# forward: -# - 0 -# - 1 -# - -0.1 -# left: -# - -1 -# - 0 -# - 0 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:9eaacf85af9b99c5cf4d907f84087d628644afd5d9f52a6c65f7ef94e3a500b9 +size 1148 diff --git a/embodiments/piper/curobo_tmp.yml b/embodiments/piper/curobo_tmp.yml index 5aa5a5d7a665cf3aae942aaad54f6aafff2917c7..c27f978ea2ee3bf4ecc0c9e17f979ef22faad283 100644 --- a/embodiments/piper/curobo_tmp.yml +++ b/embodiments/piper/curobo_tmp.yml @@ -1,79 +1,3 @@ -robot_cfg: - kinematics: - use_usd_kinematics: False - usd_path: null - usd_robot_root: null - isaac_usd_path: null - usd_flip_joints: {} - usd_flip_joint_limits: {} - - urdf_path: ${ASSETS_PATH}/assets/embodiments/piper/piper.urdf - asset_root_path: null - base_link: "base_link" - ee_link: "link6" - collision_link_names: - [ - "base_link", - "link1", - "link2", - "link3", - "link4", - "link5", - "link6", - "link7", - "link8" - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/piper/collision_piper.yml - collision_sphere_buffer: 0.004 # 0.0025 - extra_collision_spheres: null - use_global_cumul: True - self_collision_ignore: - { - "base_link": ["link1", "link2", "link3"], - "link1": ["link2", "link3"], - "link2": ["link3", "link4"], - "link3": ["link4", "link5", "link6", "link7", "link8"], - "link4": ["link5", "link6", "link7", "link8"], - "link5": ["link6", "link7", "link8"], - "link6": ["link7", "link8"], - "link7": ["link8"] - } - - self_collision_buffer: - { - "base_link": 0.0, - "link1": 0.0, - "link2": 0.0, - "link3": 0.0, - "link4": 0.0, - "link5": 0.0, - "link6": 0.0, - "link7": 0.0, - "link8": 0.0 - } - #link_names: ["panda_link4"] - mesh_link_names: - [ - "base_link", - "link1", - "link2", - "link3", - "link4", - "link5", - "link6", - "link7", - "link8" - ] - lock_joints: {"joint7": 0.0, "joint8": 0.0} - extra_links: null - cspace: - joint_names: ["joint1","joint2","joint3","joint4", "joint5", - "joint6","joint7","joint8"] - - retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00, 0.0] - null_space_weight: [1,1,1,1,1,1,1,1,1] - cspace_distance_weight: [1,1,1,1,1,1,1,1,1] - max_acceleration: 15.0 - max_jerk: 500.0 -planner: - frame_bias: [0., 0., 0.] \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:635fb098c64ab1e274039f19bf51a710ed4d2628ce819b989387f78277198067 +size 2010 diff --git a/embodiments/piper/piper.srdf b/embodiments/piper/piper.srdf index 89cd45712132f56a64bd29da3b512e89fcb46dbf..74282bf2691f8ef02642340c0c22eb18b2e85248 100644 --- a/embodiments/piper/piper.srdf +++ b/embodiments/piper/piper.srdf @@ -1,35 +1,3 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +version https://git-lfs.github.com/spec/v1 +oid sha256:745e90d28fcccb9b0d8c712e086aadafee2ba06bde4d7e3349b6379910f969c6 +size 1824 diff --git a/embodiments/piper/piper.urdf b/embodiments/piper/piper.urdf index f6dc46a4ba8c902506db54b043ceffb41c054c8b..b4e345230cdd23fcced5e6fa185e5214866b6fda 100644 --- a/embodiments/piper/piper.urdf +++ b/embodiments/piper/piper.urdf @@ -1,510 +1,3 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:bdaffc743a14533b2ade29e863c2449f1e4a4b2d555c28fa357bb07c5369fc7b +size 11946 diff --git a/embodiments/ur5-wsg/collision_wsg.yml b/embodiments/ur5-wsg/collision_wsg.yml index ab64e748972bb66112a75ead9dccae39b5d8f1fd..a2f5aa206b3c511a8aef6b1f8c9df25cc0e26300 100644 --- a/embodiments/ur5-wsg/collision_wsg.yml +++ b/embodiments/ur5-wsg/collision_wsg.yml @@ -1,110 +1,3 @@ -collision_spheres: - base_link: - - "center": [-0.035, 0.028, 0.01] - "radius": 0.02106 - - "center": [0.027, -0.005, 0.01] - "radius": 0.02106 - - "center": [0.017, 0.024, 0.01] - "radius": 0.02106 - - "center": [-0.01, -0.032, 0.01] - "radius": 0.02106 - - "center": [0.023, -0.036, 0.01] - "radius": 0.02106 - - "center": [-0.012, 0.013, 0.01] - "radius": 0.02106 - shoulder_link: - - "center": [-0.004, 0.017, -0.014] - "radius": 0.06067 - - "center": [0.002, -0.01, -0.02] - "radius": 0.05467 - - "center": [0.017, 0.03, 0.001] - "radius": 0.05039 - - "center": [-0.019, 0.033, 0.008] - "radius": 0.04697 - - "center": [0.011, -0.037, 0.037] - "radius": 0.02898 - upper_arm_link: - - "center": [0.001, -0.015, 0.41] - "radius": 0.06004 - - "center": [-0.0, 0.0, 0.201] - "radius": 0.05949 - - "center": [-0.0, -0.015, 0.016] - "radius": 0.06004 - - "center": [0.0, -0.001, 0.306] - "radius": 0.05893 - - "center": [0.0, -0.0, 0.122] - "radius": 0.05949 - forearm_link: - - "center": [-0.001, 0.01, 0.02] - "radius": 0.05308 - - "center": [-0.0, 0.0, 0.215] - "radius": 0.04707 - - "center": [-0.0, -0.0, 0.128] - "radius": 0.04707 - - "center": [-0.0, -0.0, 0.293] - "radius": 0.04707 - - "center": [-0.001, 0.015, 0.381] - "radius": 0.04256 - wrist_1_link: - - "center": [0.001, 0.082, 0.01] - "radius": 0.04397 - - "center": [-0.002, 0.099, 0.016] - "radius": 0.04157 - - "center": [0.002, 0.109, -0.038] - "radius": 0.02958 - wrist_2_link: - - "center": [-0.001, 0.01, 0.083] - "radius": 0.0439 - - "center": [0.002, 0.016, 0.1] - "radius": 0.04151 - - "center": [-0.002, -0.038, 0.11] - "radius": 0.02954 - wrist_3_link: - - "center": [-0.023, 0.062, -0.005] - "radius": 0.02428 - - "center": [0.024, 0.062, -0.003] - "radius": 0.02339 - robotiq_85_base_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.001 - # - "center": [0.021, 0.002, -0.001] - # "radius": 0.03085 - # - "center": [0.017, 0.007, 0.019] - # "radius": 0.02688 - robotiq_85_left_inner_knuckle_link: - - "center": [0.026, -0.024, -0.012] - "radius": 0.01419 - - "center": [0.026, -0.024, 0.012] - "radius": 0.01419 - robotiq_85_left_finger_tip_link: - - "center": [-0.003, -0.008, -0.001] - "radius": 0.0157 - - "center": [0.006, -0.003, -0.002] - "radius": 0.01361 - robotiq_85_left_knuckle_link: - - "center": [0.002, -0.001, 0.0] - "radius": 0.01529 - robotiq_85_left_finger_link: - - "center": [0.024, -0.003, 0.007] - "radius": 0.01509 - robotiq_85_right_inner_knuckle_link: - - "center": [0.026, -0.024, -0.012] - "radius": 0.01419 - - "center": [0.026, -0.024, 0.012] - "radius": 0.01419 - robotiq_85_right_finger_tip_link: - - "center": [-0.003, -0.008, -0.001] - "radius": 0.0157 - - "center": [0.006, -0.003, -0.002] - "radius": 0.01361 - robotiq_85_right_knuckle_link: - - "center": [0.002, -0.001, 0.0] - "radius": 0.01529 - robotiq_85_right_finger_link: - - "center": [0.024, -0.003, 0.007] - "radius": 0.01509 - - "center": [0.023, -0.004, -0.002] - "radius": 0.01509 - ee_link: - - "center": [0.0, 0.0, 0.0] - "radius": 0.001 +version https://git-lfs.github.com/spec/v1 +oid sha256:43b61db45a53097e81e50a439ee14208228635c92c7cac02d12d06e315592962 +size 3293 diff --git a/embodiments/ur5-wsg/config.yml b/embodiments/ur5-wsg/config.yml index 89ae1e704e528525b290bb3dce2c54c6fd416782..7fe25f144469a9d465c8cf5e7d1b0d6254941d75 100644 --- a/embodiments/ur5-wsg/config.yml +++ b/embodiments/ur5-wsg/config.yml @@ -1,41 +1,3 @@ -urdf_path: "./ur5_wsg_gripper.urdf" -srdf_path: "./ur5.srdf" -joint_stiffness: 1000 -joint_damping: 200 -gripper_stiffnes: 1000 -gripper_damping: 200 -move_group: ["ee_link","ee_link"] -ee_joints: ["ee_fixed_joint","ee_fixed_joint"] -arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"], - ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]] -# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"], - # ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]] -gripper_name: - - base: "base_joint_gripper_left" - mimic: [["base_joint_gripper_right", -1., 0.]] - - base: "base_joint_gripper_left" - mimic: [["base_joint_gripper_right", -1., 0.]] -gripper_bias: 0.11 -gripper_scale: [0.01, -0.06] -homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0], - [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]] -delta_matrix: [[1,0,0],[0,1,0],[0,0,1]] -global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] -robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]] # modify -planner: "curobo" -dual_arm: False -fix_gripper_name: ["finger_left", "finger_right"] -static_camera_list: -- name: head_camera - position: - - -0.032 - - -0.45 - - 1.35 - forward: - - 0 - - 0.6 - - -0.8 - left: - - -1 - - 0 - - 0 \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:97c8c88e6817031d0ae26e69ebc4f0de7eeb663250620c64d857022006fc71ea +size 1417 diff --git a/embodiments/ur5-wsg/curobo_tmp.yml b/embodiments/ur5-wsg/curobo_tmp.yml index 8ebcf2691c34185d88edaa0e5f91566c502ff0e6..b50bec12b2f574685736b1a1e2821358fe29b8a1 100644 --- a/embodiments/ur5-wsg/curobo_tmp.yml +++ b/embodiments/ur5-wsg/curobo_tmp.yml @@ -1,76 +1,3 @@ -robot_cfg: - kinematics: - use_usd_kinematics: False - usd_path: null - usd_robot_root: null - isaac_usd_path: null - usd_flip_joints: {} - usd_flip_joint_limits: {} - urdf_path: ${ASSETS_PATH}/assets/embodiments/ur5-wsg/ur5_wsg_gripper.urdf - asset_root_path: null - base_link: "base_link" - ee_link: "ee_link" - collision_link_names: [ - "base_link", - "shoulder_link", - "upper_arm_link", - "forearm_link", - "wrist_1_link", - "wrist_2_link", - "wrist_3_link", - "ee_link" - ] - collision_spheres: ${ASSETS_PATH}/assets/embodiments/ur5-wsg/collision_wsg.yml - collision_sphere_buffer: 0.004 - extra_collision_spheres: null - use_global_cumul: True - self_collision_ignore: { - "base_link": ["shoulder_link"], - "shoulder_link": ["upper_arm_link", "base_link"], - "upper_arm_link": ["forearm_link", "shoulder_link"], - "forearm_link": ["wrist_1_link", "upper_arm_link"], - "wrist_1_link": ["wrist_2_link", "forearm_link", "ee_link"], - "wrist_2_link": ["wrist_3_link", "wrist_1_link", "ee_link"], - "wrist_3_link": ["ee_link", "wrist_2_link", "wrist_1_link"], - } - - self_collision_buffer: - { - "base_link": 0.0, - "shoulder_link": 0.0, - "upper_arm_link": 0.0, - "forearm_link": 0.0, - "wrist_1_link": 0.0, - "wrist_2_link": 0.0, - "wrist_3_link": 0.0, - "ee_link": 0.0 - } - mesh_link_names: - [ - "base_link", - "shoulder_link", - "upper_arm_link", - "forearm_link", - "wrist_1_link", - "wrist_2_link", - "wrist_3_link", - "ee_link" - ] - - lock_joints: {} - - extra_links: null - cspace: - joint_names: ["shoulder_pan_joint" - ,"shoulder_lift_joint" - ,"elbow_joint" - ,"wrist_1_joint" - ,"wrist_2_joint" - ,"wrist_3_joint"] - retract_config: [0, 0, 0, 0, 0, 0] - null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0] - max_acceleration: 15.0 - max_jerk: 500.0 -planner: - frame_bias: [0., 0., 0.] \ No newline at end of file +version https://git-lfs.github.com/spec/v1 +oid sha256:d01d420a2e9fed3b707c38bb973a26a59a56b9eb2a8cdba319caa062d6f081d5 +size 2110 diff --git a/embodiments/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl b/embodiments/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl index 62c8142e42412ef3c134e95821f5f5cfc08babaa..7aeaa0c525f0734df3e524a9d971ef58751ee5fc 100644 Binary files a/embodiments/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl and b/embodiments/ur5-wsg/meshes/gripper/GUIDE_WSG50_110.stl differ diff --git a/embodiments/ur5-wsg/meshes/ur5/collision/base.stl b/embodiments/ur5-wsg/meshes/ur5/collision/base.stl index 4eb2f7eb38493e36b16587650cd65c516ea27766..339a8164007954c38541f204af1354c8b991828e 100644 Binary files a/embodiments/ur5-wsg/meshes/ur5/collision/base.stl and b/embodiments/ur5-wsg/meshes/ur5/collision/base.stl differ diff --git a/embodiments/ur5-wsg/meshes/ur5/collision/forearm.stl 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0 0 1 1 2 2 3 3 4 4 5 5 5507 6 5386 7 8 8 8 8 5386 7 9 9 10 10 11 11 12 12 5386 7 5388 13 9 9 9 9 5388 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5882 20 6014 21 16 16 18 18 22 22 22 22 18 18 6014 21 22 22 6014 21 6015 23 24 24 5827 25 18 18 18 18 5827 25 5828 26 18 18 5828 26 5882 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5827 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 6179 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 6179 55 58 58 59 59 6179 55 6179 55 59 59 60 60 60 60 61 61 6179 55 6179 55 61 61 5822 62 55 63 62 63 5978 63 63 64 64 65 65 66 65 66 64 65 66 67 66 67 67 68 65 66 65 66 67 68 68 69 65 66 68 69 69 70 69 70 68 69 70 71 69 70 70 71 71 72 63 64 65 66 72 73 72 73 65 66 73 74 72 73 73 74 74 75 1 1 75 76 2 2 2 2 75 76 76 77 2 2 76 77 73 74 73 74 76 77 77 78 73 74 77 78 74 75 0 0 2 2 78 79 78 79 2 2 79 80 78 79 79 80 80 81 80 81 79 80 81 82 81 82 79 80 82 83 81 82 82 83 83 84 5388 13 6120 85 12 12 12 12 6120 85 7071 86 12 12 7071 86 82 83 82 83 7071 86 86 87 82 83 86 87 83 84 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 88 87 88 12 12 82 83 87 88 82 83 88 89 88 89 82 83 79 80 88 89 79 80 89 90 89 90 79 80 2 2 89 90 2 2 90 91 90 91 2 2 73 74 90 91 73 74 91 92 91 92 73 74 65 66 91 92 65 66 6179 55 6179 55 65 66 69 70 6179 55 69 70 58 58 58 58 69 70 71 72 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 88 24 24 87 88 27 27 27 27 87 88 88 89 27 27 88 89 34 34 34 34 88 89 89 90 34 34 89 90 36 36 36 36 89 90 90 91 36 36 90 91 39 39 39 39 90 91 91 92 39 39 91 92 44 44 44 44 91 92 6179 55 44 44 6179 55 50 50 50 50 6179 55 57 57 92 93 93 94 94 95 95 96 96 97 97 98 98 99 99 100 100 101 100 101 99 100 101 102 100 101 101 102 102 103 103 104 101 102 104 105 104 105 101 102 105 106 103 104 106 107 101 102 101 102 106 107 107 108 101 102 107 108 102 103 108 109 109 110 110 111 110 111 109 110 111 112 111 112 112 113 110 111 110 111 112 113 113 114 110 111 113 114 114 115 115 116 116 117 117 118 117 118 116 117 118 119 117 118 118 119 110 111 110 111 118 119 119 120 110 111 119 120 108 109 120 121 115 116 121 122 121 122 115 116 117 118 121 122 117 118 122 123 122 123 117 118 97 98 96 97 123 124 97 98 97 98 123 124 124 125 97 98 124 125 122 123 125 126 126 127 127 128 127 128 126 127 128 129 127 128 128 129 129 130 129 130 130 131 127 128 127 128 130 131 131 132 127 128 131 132 95 96 132 133 133 134 134 135 133 134 132 133 135 136 135 136 132 133 136 137 135 136 136 137 137 138 138 139 139 140 140 141 140 141 139 140 141 142 140 141 141 142 136 137 136 137 141 142 142 143 136 137 142 143 137 138 143 144 144 145 145 146 145 146 144 145 146 147 145 146 146 147 140 141 140 141 146 147 147 148 140 141 147 148 138 139 143 144 145 146 148 149 148 149 145 146 149 150 148 149 149 150 150 151 150 151 149 150 151 152 150 151 151 152 152 153 153 154 154 155 155 156 155 156 154 155 156 157 155 156 156 157 151 152 151 152 156 157 157 158 151 152 157 158 152 153 153 154 155 156 158 159 158 159 155 156 159 160 158 159 159 160 160 161 93 94 161 162 94 95 94 95 161 162 162 163 94 95 162 163 163 164 163 164 162 163 164 165 163 164 164 165 159 160 159 160 164 165 165 166 159 160 165 166 160 161 166 167 167 168 94 95 94 95 167 168 168 169 94 95 168 169 92 93 92 93 168 169 169 170 92 93 169 170 170 171 6023 172 172 173 173 174 173 174 172 173 6924 175 6405 176 176 177 177 178 177 178 176 177 178 179 177 178 178 179 179 180 6925 181 181 182 182 183 182 183 6933 184 6925 181 180 185 183 185 174 185 6925 181 6924 175 184 186 184 186 6924 175 172 173 184 186 172 173 185 187 186 188 187 189 188 190 188 190 187 189 189 191 188 190 189 191 190 192 190 192 189 191 191 193 190 192 191 193 172 173 172 173 191 193 192 194 172 173 192 194 185 187 186 188 188 190 193 195 193 195 188 190 194 196 193 195 194 196 195 197 196 198 197 199 194 196 194 196 197 199 198 200 194 196 198 200 195 197 199 201 200 202 196 198 196 198 200 202 201 203 196 198 201 203 197 199 202 204 203 205 199 201 199 201 203 205 204 206 199 201 204 206 200 202 205 207 206 208 202 204 202 204 206 208 207 209 202 204 207 209 203 205 98 99 208 210 99 100 99 100 208 210 209 211 99 100 209 211 205 207 205 207 209 211 210 212 205 207 210 212 206 208 179 180 166 167 177 178 177 178 166 167 94 95 177 178 94 95 211 213 211 213 94 95 163 164 211 213 163 164 212 214 212 214 163 164 159 160 212 214 159 160 213 215 213 215 159 160 155 156 213 215 155 156 214 216 214 216 155 156 151 152 214 216 151 152 215 217 215 217 151 152 149 150 215 217 149 150 216 218 216 218 149 150 145 146 216 218 145 146 217 219 217 219 145 146 140 141 217 219 140 141 218 220 218 220 140 141 136 137 218 220 136 137 219 221 219 221 136 137 132 133 95 96 97 98 127 128 127 128 97 98 117 118 127 128 117 118 220 222 220 222 117 118 110 111 220 222 110 111 101 102 101 102 110 111 114 115 101 102 114 115 105 106 6023 172 6405 176 172 173 172 173 6405 176 177 178 172 173 177 178 190 192 190 192 177 178 211 213 190 192 211 213 188 190 188 190 211 213 212 214 188 190 212 214 194 196 194 196 212 214 213 215 194 196 213 215 196 198 196 198 213 215 214 216 196 198 214 216 199 201 199 201 214 216 215 217 199 201 215 217 202 204 202 204 215 217 216 218 202 204 216 218 205 207 205 207 216 218 217 219 205 207 217 219 99 100 99 100 217 219 218 220 99 100 218 220 101 102 101 102 218 220 219 221 101 102 219 221 220 222 220 222 219 221 132 133 220 222 132 133 127 128 127 128 132 133 134 135 127 128 134 135 125 126 221 223 222 224 223 225 224 226 225 227 226 228 227 229 228 230 229 231 230 232 231 233 232 234 232 234 231 233 233 235 234 236 235 237 236 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587 267 269 269 271 586 588 290 292 289 291 453 589 587 590 588 591 589 592 590 593 591 594 592 595 593 596 594 597 595 598 596 599 597 600 598 601 7071 86 599 602 600 603 15 15 601 604 602 605 6309 606 604 607 22 22 15 15 19 19 601 604 601 604 19 19 17 17 601 604 17 17 604 607 604 607 17 17 16 16 604 607 16 16 22 22 10 10 4 4 602 605 602 605 4 4 3 3 602 605 3 3 15 15 10 10 602 605 11 11 11 11 602 605 605 608 11 11 605 608 14 14 14 14 605 608 606 609 14 14 606 609 9 9 6034 610 5507 6 606 609 606 609 5507 6 8 8 606 609 8 8 9 9 85 611 84 612 6117 613 6117 613 84 612 13 614 6117 613 13 614 5387 615 608 616 83 84 86 87 1 1 0 0 609 617 609 617 0 0 78 79 78 79 80 81 608 616 608 616 80 81 81 82 608 616 81 82 83 84 77 78 76 77 610 618 610 618 76 77 609 617 609 617 76 77 75 76 609 617 75 76 1 1 70 619 68 619 611 619 611 620 68 620 67 620 611 621 67 68 612 622 612 622 67 68 66 67 612 622 66 67 64 65 64 65 63 64 612 622 612 622 63 64 72 73 612 622 72 73 610 618 610 618 72 73 74 75 610 618 74 75 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1703 0 1696 0 1704 0 1704 1 1696 1 1697 1 1704 2 1697 2 1713 2 1757 3 1758 3 1763 3 1737 4 1783 4 1696 4 1696 5 1783 5 1793 5 1696 3 1793 3 1754 3 1713 6 1714 6 1704 6 1704 7 1714 7 1775 7 1704 8 1775 8 1747 8 1703 9 1753 9 1696 9 1696 10 1753 10 1766 10 1696 11 1766 11 1854 11 1747 12 18 12 1704 12 1704 13 18 13 19 13 1704 14 19 14 20 14 1758 3 1782 3 1763 3 1763 15 1782 15 1890 15 1763 16 1890 16 1855 16 1854 17 24 17 1696 17 1696 18 24 18 25 18 1696 19 25 19 1737 19 1754 20 26 20 1696 20 1696 21 26 21 1845 21 1696 22 1845 22 1788 22 1757 3 1763 3 1776 3 1776 3 1763 3 1771 3 1776 23 1771 23 31 23 20 24 1764 24 1704 24 1704 25 1764 25 1763 25 1704 3 1763 3 1792 3 1792 3 1763 3 1855 3 1801 26 2021 26 31 26 31 27 2021 27 1780 27 31 28 1780 28 1776 28 1788 3 37 3 1696 3 1696 29 37 29 38 29 1696 3 38 3 39 3 39 3 40 3 1696 3 1696 3 40 3 41 3 1696 3 41 3 42 3 42 3 43 3 1696 3 1696 30 43 30 2042 30 1696 31 2042 31 1831 31 2061 32 1699 33 44 33 44 33 1699 33 1976 34 44 33 1976 34 45 34 45 34 1976 34 1969 35 45 34 1969 35 1 35 1 35 1969 35 1970 36 1 35 1970 36 3 36 3 36 1970 36 2033 37 3 36 2033 37 4 37 4 37 2033 37 2036 38 4 37 2036 38 12 38 12 38 2036 38 2039 39 12 38 2039 39 13 40 13 40 2039 39 2044 41 13 40 2044 41 14 41 14 41 2044 41 2045 42 14 41 2045 42 1748 42 1748 42 2045 42 2060 43 1748 42 2060 43 1874 43 1874 43 2060 43 2055 44 1874 43 2055 44 1875 44 1875 44 2055 44 2052 45 1875 44 2052 45 32 45 32 45 2052 45 1935 46 32 45 1935 46 7 46 7 46 1935 46 1936 47 7 46 1936 47 30 47 30 47 1936 47 1944 48 30 47 1944 48 1800 48 1800 48 1944 48 1956 49 1800 48 1956 49 34 49 34 49 1956 49 1920 50 34 49 1920 50 35 50 35 50 1920 50 1921 51 35 50 1921 51 36 52 36 52 1921 51 1910 53 36 52 1910 53 29 53 29 53 1910 53 1911 54 29 53 1911 54 5 54 5 54 1911 54 182 55 5 54 182 55 6 55 6 55 182 55 1904 56 6 55 1904 56 21 56 21 56 1904 56 1909 57 21 56 1909 57 22 57 22 57 1909 57 1916 58 22 57 1916 58 23 58 23 58 1916 58 1917 59 23 58 1917 59 33 59 33 59 1917 59 1958 60 33 59 1958 60 2 60 2 60 1958 60 1951 61 2 60 1951 61 0 61 0 61 1951 61 1933 62 0 61 1933 62 15 62 15 62 1933 62 1885 63 15 62 1885 63 16 63 16 63 1885 63 1886 64 16 63 1886 64 17 64 17 64 1886 64 1888 65 17 64 1888 65 1828 65 1828 65 1888 65 1867 66 1828 65 1867 66 1738 66 1738 66 1867 66 1868 67 1738 66 1868 67 8 67 8 67 1868 67 1860 68 8 67 1860 68 9 68 9 68 1860 68 1853 69 9 68 1853 69 10 69 10 69 1853 69 1849 70 10 69 1849 70 11 70 11 70 1849 70 1850 71 11 70 1850 71 1755 71 1755 71 1850 71 199 72 1755 71 199 72 27 72 27 72 199 72 200 73 27 72 200 73 28 73 28 73 200 73 1978 74 28 73 1978 74 1789 74 1789 74 1978 74 2000 75 1789 74 2000 75 2026 75 2026 75 2000 75 1995 76 2026 75 1995 76 2027 76 2027 76 1995 76 1991 77 2027 76 1991 77 2029 77 2029 77 1991 77 205 78 2029 77 205 78 2051 78 2051 78 205 78 206 79 2051 78 206 79 2059 79 2059 79 206 79 1700 32 2059 79 1700 32 2061 32 2061 32 1700 32 1699 33 1721 80 1769 80 48 80 1822 81 50 81 51 81 1984 80 1983 80 48 80 54 82 55 82 1822 82 1822 80 55 80 56 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1791 110 79 110 84 80 1834 80 85 80 85 111 1834 111 1835 111 85 112 1835 112 1838 112 1971 113 1728 113 1977 113 1977 114 1728 114 1698 114 1977 115 1698 115 201 115 201 3 1698 3 1692 3 201 3 1692 3 202 3 202 116 1692 116 1693 116 202 3 1693 3 203 3 203 3 1693 3 1705 3 203 3 1705 3 204 3 204 3 1705 3 1706 3 204 3 1706 3 1992 3 1992 3 1706 3 1719 3 1992 3 1719 3 2024 3 2024 117 1719 117 1720 117 2024 118 1720 118 207 118 207 3 1720 3 970 3 207 119 970 119 162 119 162 120 970 120 1784 120 162 3 1784 3 163 3 163 121 1784 121 1781 121 163 122 1781 122 164 122 164 3 1781 3 1777 3 164 123 1777 123 165 123 165 3 1777 3 1739 3 165 3 1739 3 166 3 166 3 1739 3 1740 3 166 3 1740 3 167 3 167 124 1740 124 1742 124 167 3 1742 3 168 3 168 3 1742 3 1743 3 168 3 1743 3 169 3 169 125 1743 125 978 125 169 126 978 126 170 126 170 3 978 3 979 3 170 3 979 3 171 3 171 3 979 3 980 3 171 3 980 3 172 3 172 3 980 3 981 3 172 127 981 127 173 127 173 3 981 3 982 3 173 3 982 3 174 3 174 3 982 3 983 3 174 128 983 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63 59 63 59 62 58 2243 2313 2243 2313 62 58 2248 2318 2243 2313 2248 2318 2233 2303 2233 2303 2248 2318 2236 2306 2233 2303 2236 2306 1502 1551 1502 1551 2236 2306 2238 2308 1502 1551 2238 2308 1500 1549 1500 1549 2238 2308 1504 1553 2256 2326 2257 2327 2258 2328 2241 2311 2259 2329 2260 2330 2260 2330 2259 2329 2258 2328 2260 2330 2258 2328 2261 2331 2261 2331 2258 2328 2257 2327 2261 2331 2257 2327 74 76 77 80 76 78 1494 1543 1494 1543 76 78 2256 2326 1494 1543 2256 2326 2262 2332 2262 2332 2256 2326 2258 2328 2262 2332 2258 2328 1903 1963 1903 1963 2258 2328 2259 2329 76 78 75 77 2256 2326 2256 2326 75 77 53 46 2256 2326 53 46 2257 2327 2257 2327 53 46 52 45 2257 2327 52 45 74 76 83 87 82 86 2263 2333 2263 2333 82 86 79 82 623 666 1899 1959 1900 1960 1900 1960 1899 1959 2264 2334 1900 1960 2264 2334 2232 2302 2232 2302 2264 2334 2263 2333 2232 2302 2263 2333 1495 1544 1495 1544 2263 2333 79 82 1495 1544 79 82 80 84 87 92 86 91 2265 2335 2265 2335 86 91 85 90 635 678 1898 1958 625 668 625 668 1898 1958 2266 2336 625 668 2266 2336 1554 1603 1554 1603 2266 2336 2267 2337 1554 1603 2267 2337 2268 2338 2268 2338 2267 2337 2265 2335 2268 2338 2265 2335 2269 2339 2269 2339 2265 2335 85 90 2269 2339 85 90 84 89 631 674 1554 1603 1899 1959 1899 1959 1554 1603 2268 2338 1899 1959 2268 2338 2264 2334 2264 2334 2268 2338 2269 2339 2264 2334 2269 2339 2263 2333 2263 2333 2269 2339 84 89 2263 2333 84 89 83 87 81 85 78 81 1495 1544 1495 1544 78 81 1494 1543 1495 1544 1494 1543 2231 2301 2231 2301 1494 1543 2262 2332 2231 2301 2262 2332 1553 1602 1553 1602 2262 2332 1903 1963 1553 1602 1903 1963 606 649 606 649 1903 1963 607 650 74 76 73 75 2261 2331 2261 2331 73 75 72 74 2261 2331 72 74 2270 2340 2270 2340 72 74 69 68 2270 2340 69 68 70 70 2241 2311 2260 2330 2242 2312 2242 2312 2260 2330 2261 2331 2242 2312 2261 2331 2254 2324 2254 2324 2261 2331 2270 2340 2254 2324 2270 2340 2253 2323 2253 2323 2270 2340 70 70 2253 2323 70 70 71 71 2271 2341 1491 1540 2272 2342 1492 1541 1485 1534 2273 2343 2271 2341 1489 1538 2274 2344 2274 2344 1489 1538 1488 1537 2274 2344 1488 1537 2275 2345 1480 1529 2276 2346 2277 2347 2277 2347 2276 2346 2278 2348 2277 2347 2278 2348 2279 2349 2279 2349 2278 2348 2280 2350 2279 2349 2280 2350 1897 1957 641 684 640 683 1555 1604 1555 1604 640 683 2275 2345 1555 1604 2275 2345 2281 2351 2281 2351 2275 2345 1488 1537 2281 2351 1488 1537 2282 2352 2282 2352 1488 1537 1490 1539 2282 2352 1490 1539 2283 2353 2284 2354 2285 2355 2286 2356 2286 2356 2285 2355 2287 2357 2271 2341 2272 2342 1489 1538 1489 1538 2272 2342 2288 2358 1489 1538 2288 2358 1490 1539 1490 1539 2288 2358 2289 2359 1490 1539 2289 2359 2283 2353 88 94 1483 1532 89 95 89 95 1483 1532 1482 1531 89 95 1482 1531 90 97 90 97 1482 1531 91 98 1480 1529 92 99 2276 2346 2276 2346 92 99 93 101 2276 2346 93 101 94 102 94 102 91 98 2276 2346 2276 2346 91 98 1482 1531 2276 2346 1482 1531 2278 2348 2278 2348 1482 1531 1484 1533 2278 2348 1484 1533 2280 2350 2290 2360 104 116 51 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5606 405 5606 405 401 404 403 406 5606 405 403 406 404 407 404 407 403 406 405 408 404 407 405 408 406 409 406 409 405 408 407 410 406 409 407 410 5572 411 5572 411 407 410 409 412 5572 411 409 412 410 413 410 413 409 412 411 414 410 413 411 414 412 415 412 415 411 414 413 416 412 415 413 416 414 417 414 417 413 416 415 418 414 417 415 418 5099 419 5099 419 415 418 417 420 5099 419 417 420 5240 421 5240 421 417 420 419 422 5240 421 419 422 420 423 420 423 419 422 421 424 420 423 421 424 5272 425 421 424 423 426 5272 425 5272 425 423 426 424 427 5272 425 424 427 425 428 425 428 424 427 426 429 425 428 426 429 427 430 428 431 429 432 430 433 430 433 429 432 431 434 430 433 431 434 432 435 432 435 431 434 433 436 432 435 433 436 434 437 434 437 433 436 4880 438 434 437 4880 438 427 430 427 430 4880 438 436 439 427 430 436 439 425 428 428 431 437 440 429 432 429 441 437 441 438 441 429 432 438 442 4891 443 4891 443 438 442 440 444 274 274 5550 276 441 445 440 444 438 442 6190 446 6190 446 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641 629 640 631 642 5642 641 631 642 5460 633 5460 633 631 642 632 643 5460 633 632 643 623 634 5590 639 5702 644 626 637 626 637 5702 644 5703 645 626 637 5703 645 635 646 635 646 5703 645 5682 647 635 646 5682 647 637 648 637 648 5682 647 638 649 638 649 5682 647 5683 650 638 649 5683 650 640 651 640 651 5683 650 641 652 640 651 641 652 642 653 642 654 641 654 643 654 643 655 641 652 5766 656 643 655 5766 656 645 657 645 657 5766 656 5583 658 645 657 5583 658 647 659 647 659 5583 658 648 660 648 660 5583 658 5536 661 648 660 5536 661 650 662 650 662 5536 661 5539 663 650 662 5539 663 652 664 652 665 5539 665 653 665 653 666 5539 663 5453 667 653 666 5453 667 5454 668 5443 669 657 670 5416 671 5416 671 657 670 659 672 5416 671 659 672 5417 673 5417 673 659 672 661 674 5417 673 661 674 5454 668 5454 668 661 674 662 675 5454 668 662 675 653 666 6067 270 269 269 6237 676 6237 676 269 269 664 677 6237 676 664 677 6296 678 6296 678 664 677 666 679 6296 678 666 679 5443 669 5443 669 666 679 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0 0 1 1 2 2 2 2 1 1 3 3 2 2 3 3 4 4 4 4 3 3 5 5 4 4 5 5 6 6 2 2 7 7 0 0 0 0 7 7 8 8 0 0 8 8 9 9 9 9 8 8 10 10 8 8 11 11 10 10 10 10 11 11 12 12 10 10 12 12 13 13 13 13 12 12 14 14 13 13 14 14 15 15 16 16 17 17 18 18 18 18 17 17 6 6 18 18 6 6 5 5 19 19 20 20 21 21 21 21 20 20 22 22 21 21 22 22 23 23 24 24 25 25 26 26 27 27 28 28 29 29 29 29 28 28 30 30 29 29 30 30 26 26 26 26 30 30 31 31 26 26 31 31 24 24 32 32 33 33 34 34 25 25 24 24 34 34 34 34 24 24 35 35 34 34 35 35 32 32 20 20 19 19 36 36 33 33 32 32 36 36 36 36 32 32 37 37 36 36 37 37 20 20 18 18 5 5 38 38 38 38 5 5 3 3 3 3 1 1 38 38 38 38 1 1 0 0 38 38 0 0 9 9 9 9 10 10 38 38 38 38 10 10 13 13 38 38 13 13 39 39 39 39 13 13 15 15 38 38 40 40 18 18 18 41 40 41 41 41 18 18 41 42 16 16 16 16 41 42 42 43 16 16 42 43 43 44 44 45 45 45 46 45 47 46 48 46 49 46 50 47 51 47 49 47 52 48 53 48 46 48 49 49 54 49 55 49 56 50 57 50 58 50 46 51 49 51 59 51 53 52 60 52 46 52 46 53 60 53 61 53 46 54 61 54 62 54 62 55 63 55 46 55 46 56 63 56 64 56 46 57 64 57 65 57 66 58 46 58 67 58 67 59 46 59 68 59 66 60 69 60 46 60 46 61 69 61 70 61 46 62 70 62 44 62 71 63 72 63 46 63 46 64 73 64 49 64 49 65 73 65 74 65 49 66 74 66 75 66 75 67 76 67 49 67 49 68 76 68 77 68 49 69 77 69 54 69 78 70 79 70 49 70 49 71 79 71 80 71 49 72 80 72 47 72 81 73 82 73 49 73 49 74 82 74 83 74 59 75 84 75 46 75 46 76 84 76 85 76 46 77 85 77 86 77 86 78 87 78 46 78 46 79 87 79 88 79 46 80 88 80 52 80 65 81 89 81 46 81 46 82 89 82 90 82 46 83 90 83 91 83 92 84 93 84 46 84 46 85 94 85 95 85 55 86 96 86 49 86 49 87 96 87 97 87 49 88 97 88 98 88 99 89 100 89 49 89 49 90 100 90 101 90 49 91 101 91 102 91 48 92 103 92 49 92 49 93 103 93 104 93 49 94 104 94 105 94 106 95 107 95 49 95 49 96 107 96 108 96 49 97 108 97 109 97 109 98 110 98 49 98 49 99 110 99 111 99 49 100 111 100 81 100 83 101 112 101 49 101 49 102 112 102 113 102 49 103 113 103 114 103 114 104 115 104 49 104 49 105 115 105 116 105 49 106 116 106 50 106 51 107 117 107 49 107 49 108 117 108 118 108 49 109 118 109 119 109 119 110 120 110 49 110 49 111 120 111 121 111 49 112 121 112 58 112 122 113 58 113 123 113 123 114 124 114 122 114 122 115 124 115 125 115 122 116 125 116 126 116 126 117 127 117 122 117 122 118 127 118 128 118 122 119 128 119 129 119 122 120 130 120 58 120 58 121 130 121 131 121 58 122 131 122 132 122 57 123 133 123 58 123 58 124 133 124 134 124 58 125 134 125 49 125 91 126 135 126 46 126 46 127 135 127 136 127 46 128 136 128 68 128 93 129 137 129 46 129 46 130 137 130 138 130 46 131 138 131 71 131 72 132 139 132 46 132 46 133 139 133 140 133 46 134 140 134 94 134 98 135 141 135 49 135 49 136 141 136 142 136 49 137 142 137 143 137 102 138 144 138 49 138 49 139 144 139 145 139 49 140 145 140 78 140 105 141 146 141 49 141 49 142 146 142 147 142 49 143 147 143 106 143 148 144 149 144 150 144 150 145 151 145 148 145 148 146 151 146 152 146 148 147 152 147 153 147 154 148 155 148 46 148 46 149 155 149 156 149 46 150 156 150 92 150 95 151 157 151 46 151 46 152 157 152 158 152 46 153 158 153 159 153 159 154 160 154 46 154 46 155 160 155 161 155 46 156 161 156 162 156 163 157 164 157 165 157 49 158 166 158 167 158 168 159 169 159 49 159 49 160 169 160 170 160 49 161 170 161 171 161 171 162 172 162 49 162 49 163 172 163 173 163 49 164 173 164 174 164 129 165 175 165 122 165 122 166 175 166 176 166 122 167 176 167 177 167 177 168 178 168 122 168 122 169 178 169 179 169 122 170 179 170 180 170 181 171 182 171 183 171 148 172 184 172 185 172 45 173 186 173 46 173 46 174 186 174 187 174 46 175 187 175 188 175 162 176 189 176 46 176 46 177 189 177 190 177 46 178 190 178 191 178 192 179 193 179 194 179 195 180 196 180 197 180 198 181 199 181 165 181 165 182 199 182 200 182 165 183 200 183 201 183 143 184 202 184 49 184 49 185 202 185 203 185 49 186 203 186 166 186 167 187 204 187 49 187 49 188 204 188 205 188 49 189 205 189 168 189 174 190 206 190 49 190 49 191 206 191 207 191 49 192 207 192 99 192 153 193 208 193 148 193 148 194 208 194 209 194 148 195 209 195 184 195 180 196 210 196 122 196 122 197 210 197 148 197 122 198 148 198 211 198 211 199 148 199 185 199 132 200 212 200 58 200 58 201 212 201 213 201 58 202 213 202 214 202 214 203 215 203 58 203 58 204 215 204 216 204 58 205 216 205 217 205 188 206 218 206 46 206 46 207 218 207 219 207 46 208 219 208 154 208 220 209 221 209 165 209 165 210 221 210 222 210 165 211 222 211 223 211 164 212 224 212 165 212 165 213 224 213 225 213 165 214 225 214 198 214 191 215 226 215 46 215 46 216 226 216 165 216 46 217 165 217 227 217 227 218 165 218 201 218 228 219 229 219 230 219 230 220 229 220 231 220 217 221 232 221 58 221 58 222 232 222 233 222 58 223 233 223 56 223 220 224 165 224 194 224 194 225 165 225 234 225 194 226 234 226 192 226 193 227 235 227 194 227 194 228 235 228 236 228 194 229 236 229 237 229 238 230 239 230 196 230 196 231 239 231 240 231 196 232 240 232 197 232 223 233 241 233 165 233 165 234 241 234 242 234 165 235 242 235 163 235 243 236 244 236 183 236 183 237 244 237 245 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443 447 5118 276 5118 276 443 447 444 448 5118 276 444 448 441 445 4949 449 4955 450 447 451 447 451 4955 450 4980 452 447 451 4980 452 275 275 275 275 4980 452 449 453 275 275 449 453 5118 276 447 451 450 454 4949 449 4949 449 450 454 451 455 4949 449 451 455 4939 456 451 455 453 457 4939 456 4939 456 453 457 454 458 4939 456 454 458 4874 459 4874 459 454 458 456 460 4874 459 456 460 4800 461 4800 461 456 460 4801 462 459 463 460 464 461 465 461 465 460 464 4801 462 461 465 4801 462 462 466 462 466 4801 462 456 460 459 463 463 467 460 464 460 464 463 467 464 468 460 464 464 468 5261 469 5261 469 464 468 5262 470 5262 470 464 468 5250 471 5250 471 464 468 468 472 5250 471 468 472 5239 473 5239 473 468 472 470 474 5239 473 470 474 5240 475 5240 475 470 474 472 476 5240 475 472 476 473 477 472 476 474 478 473 477 473 477 474 478 475 479 473 477 475 479 476 480 476 480 475 479 477 481 476 480 477 481 478 482 478 482 477 481 479 483 478 482 479 483 4814 484 4814 484 479 483 481 485 4814 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567 559 566 560 567 4795 568 560 567 562 569 4795 568 4795 568 562 569 563 570 4795 568 563 570 4859 571 4859 571 563 570 565 572 4859 571 565 572 566 573 566 573 565 572 567 574 566 573 567 574 5173 575 37 37 5482 576 20 20 20 20 5482 576 5483 577 20 20 5483 577 22 22 22 22 5483 577 571 578 22 22 571 578 23 23 23 23 571 578 5465 579 23 23 5465 579 264 263 264 263 5465 579 5466 580 264 263 5466 580 574 581 574 581 5466 580 5173 575 574 581 5173 575 575 582 575 582 5173 575 567 574 37 583 32 583 5482 583 5482 576 32 32 35 35 5482 576 35 35 5461 584 5461 584 35 35 24 24 5461 584 24 24 31 31 31 31 30 30 5461 584 5461 584 30 30 28 28 5461 584 28 28 27 27 577 585 578 586 5484 587 27 27 580 588 5461 584 5461 589 580 589 581 589 5461 584 581 590 5464 591 5464 591 581 590 583 592 5464 591 583 592 5481 593 5481 593 583 592 585 594 5481 593 585 594 5484 587 5484 587 585 594 586 595 5484 587 586 595 577 585 587 596 588 597 589 598 589 598 588 597 590 599 589 598 590 599 591 600 591 600 590 599 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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 8 8 7 7 9 9 10 10 11 11 12 12 7 7 13 13 9 9 9 9 13 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5572 20 5645 21 16 16 18 18 22 22 22 22 18 18 5645 21 22 22 5645 21 5646 23 24 24 5545 25 18 18 18 18 5545 25 5546 26 18 18 5546 26 5572 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5545 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 5723 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 5723 55 58 58 59 59 5723 55 5723 55 59 59 60 60 60 60 61 61 5723 55 5723 55 61 61 5543 62 55 63 62 64 5625 64 63 65 64 66 65 67 65 67 64 66 66 68 66 68 67 69 65 67 65 67 67 69 68 70 65 67 68 70 69 71 69 71 68 70 70 72 69 71 70 72 71 73 63 65 65 67 72 74 72 74 65 67 73 75 72 74 73 75 74 76 1 1 75 77 2 2 2 2 75 77 76 78 2 2 76 78 73 75 73 75 76 78 77 79 73 75 77 79 74 76 0 0 2 2 78 80 78 80 2 2 79 81 78 80 79 81 80 82 80 82 79 81 81 83 81 83 79 81 82 84 81 83 82 84 83 85 13 13 84 86 12 12 12 12 84 86 85 87 12 12 85 87 82 84 82 84 85 87 86 88 82 84 86 88 83 85 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 89 87 89 12 12 82 84 87 89 82 84 88 90 88 90 82 84 79 81 88 90 79 81 89 91 89 91 79 81 2 2 89 91 2 2 90 92 90 92 2 2 73 75 90 92 73 75 91 93 91 93 73 75 65 67 91 93 65 67 5723 55 5723 55 65 67 69 71 5723 55 69 71 58 58 58 58 69 71 71 73 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 89 24 24 87 89 27 27 27 27 87 89 88 90 27 27 88 90 34 34 34 34 88 90 89 91 34 34 89 91 36 36 36 36 89 91 90 92 36 36 90 92 39 39 39 39 90 92 91 93 39 39 91 93 44 44 44 44 91 93 5723 55 44 44 5723 55 50 50 50 50 5723 55 57 57 92 94 93 95 94 96 95 97 96 98 97 99 98 100 99 101 100 102 100 102 99 101 101 103 100 102 101 103 102 104 103 105 101 103 104 106 104 106 101 103 105 107 103 105 106 108 101 103 101 103 106 108 107 109 101 103 107 109 102 104 108 110 109 111 110 112 110 112 109 111 111 113 111 113 112 114 110 112 110 112 112 114 113 115 110 112 113 115 114 116 115 117 116 118 117 119 117 119 116 118 118 120 117 119 118 120 110 112 110 112 118 120 119 121 110 112 119 121 108 110 120 122 115 117 121 123 121 123 115 117 117 119 121 123 117 119 122 124 122 124 117 119 97 99 96 98 123 125 97 99 97 99 123 125 124 126 97 99 124 126 122 124 125 127 126 128 127 129 127 129 126 128 128 130 127 129 128 130 129 131 129 131 130 132 127 129 127 129 130 132 131 133 127 129 131 133 95 97 132 134 133 135 134 136 133 135 132 134 135 137 135 137 132 134 136 138 135 137 136 138 137 139 138 140 139 141 140 142 140 142 139 141 141 143 140 142 141 143 136 138 136 138 141 143 142 144 136 138 142 144 137 139 143 145 144 146 145 147 145 147 144 146 146 148 145 147 146 148 140 142 140 142 146 148 147 149 140 142 147 149 138 140 143 145 145 147 148 150 148 150 145 147 149 151 148 150 149 151 150 152 150 152 149 151 151 153 150 152 151 153 152 154 153 155 154 156 155 157 155 157 154 156 156 158 155 157 156 158 151 153 151 153 156 158 157 159 151 153 157 159 152 154 153 155 155 157 158 160 158 160 155 157 159 161 158 160 159 161 160 162 93 95 161 163 94 96 94 96 161 163 162 164 94 96 162 164 163 165 163 165 162 164 164 166 163 165 164 166 159 161 159 161 164 166 165 167 159 161 165 167 160 162 166 168 167 169 94 96 94 96 167 169 168 170 94 96 168 170 92 94 92 94 168 170 169 171 92 94 169 171 170 172 5653 173 172 174 173 175 173 175 172 174 174 176 5809 177 176 178 177 179 177 179 176 178 178 180 177 179 178 180 179 181 180 182 181 183 182 184 182 184 183 185 180 182 180 182 183 185 174 176 180 182 174 176 184 186 184 186 174 176 172 174 184 186 172 174 185 187 186 188 187 188 188 189 188 189 187 188 189 190 188 189 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140 142 136 138 218 219 136 138 219 220 219 220 136 138 132 134 95 97 97 99 127 129 127 129 97 99 117 119 127 129 117 119 220 221 220 221 117 119 110 112 220 221 110 112 101 103 101 103 110 112 114 116 101 103 114 116 105 107 5653 173 5809 177 172 174 172 174 5809 177 177 179 172 174 177 179 190 191 190 191 177 179 211 212 190 191 211 212 188 189 188 189 211 212 212 213 188 189 212 213 194 195 194 195 212 213 213 214 194 195 213 214 196 197 196 197 213 214 214 215 196 197 214 215 199 200 199 200 214 215 215 216 199 200 215 216 202 203 202 203 215 216 216 217 202 203 216 217 205 206 205 206 216 217 217 218 205 206 217 218 99 101 99 101 217 218 218 219 99 101 218 219 101 103 101 103 218 219 219 220 101 103 219 220 220 221 220 221 219 220 132 134 220 221 132 134 127 129 127 129 132 134 134 136 127 129 134 136 125 127 221 222 222 223 223 224 224 225 225 226 226 227 227 228 228 229 229 230 230 231 231 232 232 233 232 233 231 232 233 234 234 235 235 236 236 237 236 237 235 236 237 238 236 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37 45 37 1978 37 1971 38 45 37 1971 38 1 38 1 38 1971 38 1972 39 1 38 1972 39 3 39 3 39 1972 39 2036 40 3 39 2036 40 4 40 4 40 2036 40 2039 41 4 40 2039 41 12 41 12 41 2039 41 2042 42 12 41 2042 42 13 42 13 42 2042 42 2047 43 13 42 2047 43 14 43 14 43 2047 43 2048 44 14 43 2048 44 1748 44 1748 44 2048 44 2063 45 1748 44 2063 45 1876 45 1876 45 2063 45 2058 46 1876 45 2058 46 1877 46 1877 46 2058 46 2055 47 1877 46 2055 47 32 47 32 47 2055 47 1937 48 32 47 1937 48 7 48 7 48 1937 48 1938 49 7 48 1938 49 30 49 30 49 1938 49 1946 50 30 49 1946 50 1798 50 1798 50 1946 50 1958 51 1798 50 1958 51 34 51 34 51 1958 51 1922 52 34 51 1922 52 35 52 35 52 1922 52 1923 53 35 52 1923 53 36 53 36 53 1923 53 1912 54 36 53 1912 54 29 54 29 54 1912 54 1913 55 29 54 1913 55 5 55 5 55 1913 55 182 56 5 55 182 56 6 56 6 56 182 56 1906 57 6 56 1906 57 21 57 21 57 1906 57 1911 58 21 57 1911 58 22 58 22 58 1911 58 1918 59 22 58 1918 59 23 59 23 59 1918 59 1919 60 23 59 1919 60 33 60 33 60 1919 60 1960 61 33 60 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154 1007 154 1973 154 1973 3 1007 3 1727 3

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0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 8 8 7 7 9 9 10 10 11 11 12 12 7 7 13 13 9 9 9 9 13 13 12 12 9 9 12 12 14 14 14 14 12 12 11 11 3 3 5 5 15 15 16 16 17 17 18 18 18 18 17 17 19 19 18 18 5571 20 5644 21 16 16 18 18 22 22 22 22 18 18 5644 21 22 22 5644 21 5645 23 24 24 5544 25 18 18 18 18 5544 25 5545 26 18 18 5545 26 5571 20 27 27 28 28 29 29 29 29 30 30 27 27 27 27 30 30 31 31 27 27 31 31 24 24 24 24 31 31 32 32 24 24 32 32 5544 25 28 28 27 27 33 33 33 33 27 27 34 34 33 33 34 34 35 35 36 36 37 37 34 34 34 34 37 37 38 38 34 34 38 38 35 35 39 39 40 40 36 36 36 36 40 40 41 41 41 41 42 42 36 36 36 36 42 42 43 43 36 36 43 43 37 37 44 44 45 45 39 39 39 39 45 45 46 46 39 39 46 46 47 47 47 47 48 48 39 39 39 39 48 48 49 49 39 39 49 49 40 40 50 50 51 51 44 44 44 44 51 51 52 52 44 44 52 52 45 45 53 53 54 54 5722 55 53 53 56 56 54 54 54 54 56 56 57 57 54 54 57 57 5722 55 58 58 59 59 5722 55 5722 55 59 59 60 60 60 60 61 61 5722 55 5722 55 61 61 5542 62 55 63 62 64 5624 64 63 65 64 66 65 67 65 67 64 66 66 68 66 68 67 69 65 67 65 67 67 69 68 70 65 67 68 70 69 71 69 71 68 70 70 72 69 71 70 72 71 73 63 65 65 67 72 74 72 74 65 67 73 75 72 74 73 75 74 76 1 1 75 77 2 2 2 2 75 77 76 78 2 2 76 78 73 75 73 75 76 78 77 79 73 75 77 79 74 76 0 0 2 2 78 80 78 80 2 2 79 81 78 80 79 81 80 82 80 82 79 81 81 83 81 83 79 81 82 84 81 83 82 84 83 85 13 13 84 86 12 12 12 12 84 86 85 87 12 12 85 87 82 84 82 84 85 87 86 88 82 84 86 88 83 85 4 4 10 10 5 5 5 5 10 10 12 12 5 5 12 12 87 89 87 89 12 12 82 84 87 89 82 84 88 90 88 90 82 84 79 81 88 90 79 81 89 91 89 91 79 81 2 2 89 91 2 2 90 92 90 92 2 2 73 75 90 92 73 75 91 93 91 93 73 75 65 67 91 93 65 67 5722 55 5722 55 65 67 69 71 5722 55 69 71 58 58 58 58 69 71 71 73 19 19 15 15 18 18 18 18 15 15 5 5 18 18 5 5 24 24 24 24 5 5 87 89 24 24 87 89 27 27 27 27 87 89 88 90 27 27 88 90 34 34 34 34 88 90 89 91 34 34 89 91 36 36 36 36 89 91 90 92 36 36 90 92 39 39 39 39 90 92 91 93 39 39 91 93 44 44 44 44 91 93 5722 55 44 44 5722 55 50 50 50 50 5722 55 57 57 92 94 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