Upload folder using huggingface_hub

.gitattributes

@@ -101,3 +101,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 assets/calvin/franka_panda/meshes/visual/Assem1.SLDASM filter=lfs diff=lfs merge=lfs -text
 assets/calvin/franka_panda/meshes/visual/FRANKA_Finger.SLDPRT filter=lfs diff=lfs merge=lfs -text
 assets/calvin/franka_panda/meshes/visual/finger.SLDPRT filter=lfs diff=lfs merge=lfs -text
+robots/franka_calvin/meshes/visual/Assem1.SLDASM filter=lfs diff=lfs merge=lfs -text
+robots/franka_calvin/meshes/visual/FRANKA_Finger.SLDPRT filter=lfs diff=lfs merge=lfs -text
+robots/franka_calvin/meshes/visual/finger.SLDPRT filter=lfs diff=lfs merge=lfs -text

robots/franka_calvin/LICENSE.txt

@@ -0,0 +1,176 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS

robots/franka_calvin/meshes/collision/finger.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a281686e7a34dd0354dc4331ddc488ffdcea4a5209adbf9204c067ba10fa20ba
+size 7602

robots/franka_calvin/meshes/collision/hand.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237ca634f5dba029f9c1409ea6ccd8ea7c14a2e91053220fb4e03c534bbf04e4
+size 15246

robots/franka_calvin/meshes/collision/link0.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5a8174525857c24a1da625bcadc98157866d1fe00cc77c9f5c8ad12e64622d
+size 14924

robots/franka_calvin/meshes/collision/link1.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7214b0476670c5a07a1c2afec5302a6a20bcb9a59944a6fc7365fc46af743d52
+size 22975

robots/franka_calvin/meshes/collision/link2.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca34c6bf523950f16eac351e5f7da39eca1d94a08f2428c63b4181fca445052
+size 22687

robots/franka_calvin/meshes/collision/link3.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced794dade9c65b6a694d409bdef59bb11e61bcc3a289e0468f2b1b01899d95c
+size 22869

robots/franka_calvin/meshes/collision/link4.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36574471c9cd500469aeb2b3150eae6417ac7b7a4b227e355f4adf3b552f9186
+size 68015

robots/franka_calvin/meshes/collision/link5.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477ef5533d21fac67d63a1d7695b03056f06d6d72d366b6811105d10e5f00cfb
+size 67744

robots/franka_calvin/meshes/collision/link6.mtl

@@ -0,0 +1,177 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 17
+
+newmtl Face064_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face065_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 1.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face374_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face539_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png
+
+newmtl Part__Feature001_009_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png
+
+newmtl Part__Feature002_006_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png
+
+newmtl Shell002_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell003_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell004_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell005_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell006_003_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell007_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250000 0.250000 0.250000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell011_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell012_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png
+
+newmtl Shell_003_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png
+
+newmtl Union001_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.039216 0.541176 0.780392
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Union_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.039216 0.541176 0.780392
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/collision/link6.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1dc8bbca8690944e6331f5a108d49c363eeec179b56a9f913541a541e6a2cfc
+size 140218

robots/franka_calvin/meshes/collision/link7.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27b36f42fa2f6c79783a1e2379f9c12c0ffbedbe925e5d6d626a0b4411f37448
+size 45131

robots/franka_calvin/meshes/collision/longer_finger.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl DefaultMaterial
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/collision/longer_finger.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b171d398989a4b6edbe3e4f13d06140dfc94c2bfc211fcbb01245baabb174c62
+size 4485

robots/franka_calvin/meshes/collision/longer_finger_v2.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl DefaultMaterial
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/collision/longer_finger_v2.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3730a31e4800ecfd3195170780a2e6236a266b3642096f49f16de299c35f2fe
+size 4459

robots/franka_calvin/meshes/visual/Assem1.SLDASM

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08348e41819d193b2499781acf44b749203ab5f17969351d7ebaf377cdab2c24
+size 266805

robots/franka_calvin/meshes/visual/FRANKA_Finger.SLDPRT

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15415b0ca16f54bf2dd471a1295bd50f4bcc4f81761c0e0baf6ea899c7fbe646
+size 1054154

robots/franka_calvin/meshes/visual/digit.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ea789c949a371d68b2e8b33cc1c999bc495680b15c5f84a3765aec5f96c9f06
+size 1461584

robots/franka_calvin/meshes/visual/digit_gel_only.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4535356d40c03967aae041b0212888b60ace9d01f45979888d91c15f6b45fc
+size 134684

robots/franka_calvin/meshes/visual/finger.SLDPRT

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a62f5389c5abc45e0dcc2959d7959f195a17ed56d62e00c834b40b075161aa6d
+size 408812

robots/franka_calvin/meshes/visual/finger.mtl

@@ -0,0 +1,24 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 2
+
+newmtl Part__Feature001_006.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_007.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/finger.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6959401c281e6d5b4486f08072140b6fdb3461678face301ac448cec06322d3
+size 65359

robots/franka_calvin/meshes/visual/hand.mtl

@@ -0,0 +1,56 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 5
+
+newmtl Part__Feature001_008_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_005_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature005_001_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature005_001_005_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_009_005.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/hand.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c95c6f99024842a8b9e73629dacc30ac5ee459feb0dbcc16df765fd27620584
+size 713204

robots/franka_calvin/meshes/visual/link1.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 1
+
+newmtl Part__Feature_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.062500 0.062500 0.062500
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/link1.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ec1bec9432a46f797e912cd8165798e62ebfd85c0807dce142bd6b9a768cd7
+size 1070650

robots/franka_calvin/meshes/visual/link2.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'link3.blend'
+# Material Count: 1
+
+newmtl Part__Feature024
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.125000 0.125000 0.125000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/link2.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1a41ada6d6cb8c51a8d0d19db9cadea101493842a52db75529e7ba0d4592904
+size 1084458

robots/franka_calvin/meshes/visual/link3.mtl

@@ -0,0 +1,46 @@
+# Blender MTL File: 'link4.blend'
+# Material Count: 4
+
+newmtl Part__Feature001_010_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_007_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature003_004_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_001_001_001_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/link3.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f81c15c236a41918dade0241ce40e59c4a0ee7fb08985f3a934380a8f7f594
+size 1237175

robots/franka_calvin/meshes/visual/link4.mtl

@@ -0,0 +1,45 @@
+# Blender MTL File: 'link4.blend'
+# Material Count: 4
+
+newmtl Part__Feature001_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature002_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature003_001_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature_002_003_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png

robots/franka_calvin/meshes/visual/link4.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f36ecba40ecce6c169ede6d152a6c8853ee886e2b145ef6c5865cc9d5516b8
+size 1272305

robots/franka_calvin/meshes/visual/link5.mtl

@@ -0,0 +1,34 @@
+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl Part__Feature_002_004_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell001_001_001_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250000 0.250000 0.250000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell_001_001_003.002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/visual/link5.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d084e6f728af7d291403f0359373c121e87785b177e5c6df8a7e1e88077f11
+size 1582192

robots/franka_calvin/meshes/visual/link6.mtl

@@ -0,0 +1,177 @@
+# Blender MTL File: 'link2.blend'
+# Material Count: 17
+
+newmtl Face064_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face065_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 1.000000 0.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face374_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Face539_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature001_009_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Part__Feature002_006_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell002_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell003_002_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell004_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell005_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell006_003_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell007_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250000 0.250000 0.250000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell011_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shell012_002_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Shell_003_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors.png
+
+newmtl Union001_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.039216 0.541176 0.780392
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Union_001_001_002_001.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.039216 0.541176 0.780392
+Ks 0.003906 0.003906 0.003906
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/visual/link6.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6c29421e8066761c993a519474eb58f851885387cc2ad5a606f96eb428f059
+size 2236857

robots/franka_calvin/meshes/visual/longer_finger.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac3be4fd76c9f0cd339af67d28b51f08346e8e39839fd431e0471285aebd070
+size 15784

robots/franka_calvin/meshes/visual/longer_finger.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.694038 0.720149
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/visual/longer_finger.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c52dd3cd71369b9dcd850342aa30a62d671f5c3aa94c09de825fe329621b6bf
+size 15740

robots/franka_calvin/meshes/visual/longer_finger_v2.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0bc0aa3df1552a6156dbb2625d412485ae2a28ccf0c4c098cfe7591ffdd6ab7
+size 30284

robots/franka_calvin/meshes/visual/longer_finger_v2.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500.000001
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

robots/franka_calvin/meshes/visual/longer_finger_v2.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf0617c4aa21fc1da868472eccbf4dd82221e148577037627807779f3b0499b
+size 40129

robots/franka_calvin/meshes/visual/visualShapeBench.json_0.json

@@ -0,0 +1,269 @@
+{"traceEvents":[
+{"cat":"timing","pid":1,"tid":0,"ts":375106.900 ,"ph":"B","name":"workerThreadWait0","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":391014.000 ,"ph":"E","name":"workerThreadWait0","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":375103.500 ,"ph":"B","name":"CMD_CONFIGURE_OPENGL_VISUALIZER1","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400768.300 ,"ph":"E","name":"CMD_CONFIGURE_OPENGL_VISUALIZER1","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400776.000 ,"ph":"B","name":"workerThreadWait2","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400777.500 ,"ph":"E","name":"workerThreadWait2","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400775.700 ,"ph":"B","name":"CMD_CONFIGURE_OPENGL_VISUALIZER3","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400777.500 ,"ph":"E","name":"CMD_CONFIGURE_OPENGL_VISUALIZER3","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400779.500 ,"ph":"B","name":"workerThreadWait4","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400780.000 ,"ph":"E","name":"workerThreadWait4","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400779.400 ,"ph":"B","name":"CMD_CONFIGURE_OPENGL_VISUALIZER5","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":400780.000 ,"ph":"E","name":"CMD_CONFIGURE_OPENGL_VISUALIZER5","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401152.700 ,"ph":"B","name":"tinyobj::LoadObj6","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":428880.300 ,"ph":"E","name":"tinyobj::LoadObj6","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":430552.400 ,"ph":"B","name":"Load Texture7","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":441141.300 ,"ph":"E","name":"Load Texture7","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401100.300 ,"ph":"B","name":"loadAndRegisterMeshFromFileInternal8","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":441250.500 ,"ph":"E","name":"loadAndRegisterMeshFromFileInternal8","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":441352.400 ,"ph":"B","name":"glmesh9","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":443041.300 ,"ph":"E","name":"glmesh9","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401099.200 ,"ph":"B","name":"convertURDFToVisualShapeInternal10","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":443151.400 ,"ph":"E","name":"convertURDFToVisualShapeInternal10","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":443152.600 ,"ph":"B","name":"workerThreadWait11","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":448932.500 ,"ph":"E","name":"workerThreadWait11","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":448933.700 ,"ph":"B","name":"workerThreadWait12","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458192.800 ,"ph":"E","name":"workerThreadWait12","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":448933.500 ,"ph":"B","name":"registerGraphicsShape13","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458193.000 ,"ph":"E","name":"registerGraphicsShape13","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401097.700 ,"ph":"B","name":"convertLinkVisualShapes14","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458363.900 ,"ph":"E","name":"convertLinkVisualShapes14","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458375.000 ,"ph":"B","name":"workerThreadWait15","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458380.400 ,"ph":"E","name":"workerThreadWait15","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458380.600 ,"ph":"B","name":"workerThreadWait16","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458382.800 ,"ph":"E","name":"workerThreadWait16","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458477.600 ,"ph":"B","name":"tinyobj::LoadObj17","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458697.800 ,"ph":"E","name":"tinyobj::LoadObj17","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":460410.600 ,"ph":"B","name":"Load Texture18","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":460468.000 ,"ph":"E","name":"Load Texture18","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458388.300 ,"ph":"B","name":"loadAndRegisterMeshFromFileInternal19","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":460523.700 ,"ph":"E","name":"loadAndRegisterMeshFromFileInternal19","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":458387.400 ,"ph":"B","name":"convertURDFToVisualShape20","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462466.700 ,"ph":"E","name":"convertURDFToVisualShape20","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462467.800 ,"ph":"B","name":"setColorRGBA21","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462468.200 ,"ph":"E","name":"setColorRGBA21","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462468.400 ,"ph":"B","name":"new TGAImage22","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464078.700 ,"ph":"E","name":"new TGAImage22","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464078.800 ,"ph":"B","name":"copy texels23","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464348.700 ,"ph":"E","name":"copy texels23","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464348.800 ,"ph":"B","name":"flip_vertically24","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464664.000 ,"ph":"E","name":"flip_vertically24","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462468.200 ,"ph":"B","name":"setDiffuseTextureFromData25","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464664.100 ,"ph":"E","name":"setDiffuseTextureFromData25","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464664.100 ,"ph":"B","name":"reserveMemory26","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464678.800 ,"ph":"E","name":"reserveMemory26","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":464678.800 ,"ph":"B","name":"addVertex27","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":465429.300 ,"ph":"E","name":"addVertex27","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":465429.400 ,"ph":"B","name":"addTriangle28","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468556.500 ,"ph":"E","name":"addTriangle28","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":462467.700 ,"ph":"B","name":"registerMeshShape29","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468556.500 ,"ph":"E","name":"registerMeshShape29","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401093.900 ,"ph":"B","name":"ConvertURDF2BulletInternal230","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468666.600 ,"ph":"E","name":"ConvertURDF2BulletInternal230","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401093.200 ,"ph":"B","name":"ConvertURDF2Bullet31","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468667.000 ,"ph":"E","name":"ConvertURDF2Bullet31","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401083.300 ,"ph":"B","name":"processImportedObjects32","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468675.200 ,"ph":"E","name":"processImportedObjects32","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468675.700 ,"ph":"B","name":"workerThreadWait33","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468678.200 ,"ph":"E","name":"workerThreadWait33","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468675.500 ,"ph":"B","name":"autogenerateGraphicsObjects34","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468678.200 ,"ph":"E","name":"autogenerateGraphicsObjects34","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468678.200 ,"ph":"B","name":"createBodyInfoStream35","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468741.600 ,"ph":"E","name":"createBodyInfoStream35","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468675.200 ,"ph":"B","name":"post process36","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468741.600 ,"ph":"E","name":"post process36","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":401083.200 ,"ph":"B","name":"processCreateMultiBodyCommand237","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468741.800 ,"ph":"E","name":"processCreateMultiBodyCommand237","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468908.400 ,"ph":"B","name":"workerThreadWait38","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468909.000 ,"ph":"E","name":"workerThreadWait38","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468908.300 ,"ph":"B","name":"CMD_CONFIGURE_OPENGL_VISUALIZER39","args":{}},
+{"cat":"timing","pid":1,"tid":0,"ts":468909.100 ,"ph":"E","name":"CMD_CONFIGURE_OPENGL_VISUALIZER39","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":365611.000 ,"ph":"B","name":"processServerCMD40","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":365612.500 ,"ph":"E","name":"processServerCMD40","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":375102.100 ,"ph":"B","name":"b3SubmitClientCommand41","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":375102.200 ,"ph":"E","name":"b3SubmitClientCommand41","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400771.200 ,"ph":"B","name":"CMD_CLIENT_COMMAND_COMPLETED42","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400771.200 ,"ph":"E","name":"CMD_CLIENT_COMMAND_COMPLETED42","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400769.800 ,"ph":"B","name":"processServerCMD43","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400771.900 ,"ph":"E","name":"processServerCMD43","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":375102.300 ,"ph":"B","name":"b3ProcessServerStatus44","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400771.900 ,"ph":"E","name":"b3ProcessServerStatus44","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":375101.200 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus45","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400772.100 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus45","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400775.200 ,"ph":"B","name":"b3SubmitClientCommand46","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400775.300 ,"ph":"E","name":"b3SubmitClientCommand46","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400778.000 ,"ph":"B","name":"CMD_CLIENT_COMMAND_COMPLETED47","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400778.000 ,"ph":"E","name":"CMD_CLIENT_COMMAND_COMPLETED47","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400777.700 ,"ph":"B","name":"processServerCMD48","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400778.100 ,"ph":"E","name":"processServerCMD48","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400775.300 ,"ph":"B","name":"b3ProcessServerStatus49","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400778.100 ,"ph":"E","name":"b3ProcessServerStatus49","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400775.000 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus50","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400778.100 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus50","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400779.300 ,"ph":"B","name":"b3SubmitClientCommand51","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400779.300 ,"ph":"E","name":"b3SubmitClientCommand51","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.400 ,"ph":"B","name":"CMD_CLIENT_COMMAND_COMPLETED52","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.500 ,"ph":"E","name":"CMD_CLIENT_COMMAND_COMPLETED52","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.200 ,"ph":"B","name":"processServerCMD53","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.500 ,"ph":"E","name":"processServerCMD53","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400779.300 ,"ph":"B","name":"b3ProcessServerStatus54","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.500 ,"ph":"E","name":"b3ProcessServerStatus54","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400779.100 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus55","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400780.600 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus55","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400804.600 ,"ph":"B","name":"b3SubmitClientCommand56","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400804.700 ,"ph":"E","name":"b3SubmitClientCommand56","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401061.600 ,"ph":"B","name":"processServerCMD57","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401061.900 ,"ph":"E","name":"processServerCMD57","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400804.700 ,"ph":"B","name":"b3ProcessServerStatus58","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401061.900 ,"ph":"E","name":"b3ProcessServerStatus58","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":400804.400 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus59","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401062.000 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus59","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401082.400 ,"ph":"B","name":"b3SubmitClientCommand60","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401082.500 ,"ph":"E","name":"b3SubmitClientCommand60","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468743.000 ,"ph":"B","name":"CMD_URDF_LOADING_COMPLETED61","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468904.800 ,"ph":"E","name":"CMD_URDF_LOADING_COMPLETED61","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468742.400 ,"ph":"B","name":"processServerCMD62","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468904.800 ,"ph":"E","name":"processServerCMD62","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401082.500 ,"ph":"B","name":"b3ProcessServerStatus63","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468904.900 ,"ph":"E","name":"b3ProcessServerStatus63","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":401082.300 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus64","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468905.000 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus64","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468907.900 ,"ph":"B","name":"b3SubmitClientCommand65","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468908.000 ,"ph":"E","name":"b3SubmitClientCommand65","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.500 ,"ph":"B","name":"CMD_CLIENT_COMMAND_COMPLETED66","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.500 ,"ph":"E","name":"CMD_CLIENT_COMMAND_COMPLETED66","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.200 ,"ph":"B","name":"processServerCMD67","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.500 ,"ph":"E","name":"processServerCMD67","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468908.000 ,"ph":"B","name":"b3ProcessServerStatus68","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.600 ,"ph":"E","name":"b3ProcessServerStatus68","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468907.800 ,"ph":"B","name":"b3SubmitClientCommandAndWaitStatus69","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468909.600 ,"ph":"E","name":"b3SubmitClientCommandAndWaitStatus69","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468911.000 ,"ph":"B","name":"b3SubmitClientCommand70","args":{}},
+{"cat":"timing","pid":1,"tid":1,"ts":468911.000 ,"ph":"E","name":"b3SubmitClientCommand70","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":379357.900 ,"ph":"B","name":"texture71","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":379358.500 ,"ph":"E","name":"texture71","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":379356.000 ,"ph":"B","name":"init72","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388854.600 ,"ph":"E","name":"init72","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388882.100 ,"ph":"B","name":"updateCamera73","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388882.800 ,"ph":"E","name":"updateCamera73","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388882.800 ,"ph":"B","name":"glFlush274","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388883.300 ,"ph":"E","name":"glFlush274","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388888.300 ,"ph":"B","name":"glDrawElementsInstanced75","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388889.700 ,"ph":"E","name":"glDrawElementsInstanced75","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388889.700 ,"ph":"B","name":"glFlush76","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388889.800 ,"ph":"E","name":"glFlush76","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388889.900 ,"ph":"B","name":"glUseProgram(0);77","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388890.000 ,"ph":"E","name":"glUseProgram(0);77","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388919.700 ,"ph":"B","name":"texture78","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388919.800 ,"ph":"E","name":"texture78","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388919.500 ,"ph":"B","name":"init79","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388919.800 ,"ph":"E","name":"init79","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388920.200 ,"ph":"B","name":"updateCamera80","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388920.300 ,"ph":"E","name":"updateCamera80","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388920.300 ,"ph":"B","name":"glFlush281","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388920.300 ,"ph":"E","name":"glFlush281","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388921.200 ,"ph":"B","name":"glDrawElementsInstanced82","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.100 ,"ph":"E","name":"glDrawElementsInstanced82","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.200 ,"ph":"B","name":"glFlush83","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.200 ,"ph":"E","name":"glFlush83","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.200 ,"ph":"B","name":"glUseProgram(0);84","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.300 ,"ph":"E","name":"glUseProgram(0);84","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388891.200 ,"ph":"B","name":"renderSceneInternal85","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388922.300 ,"ph":"E","name":"renderSceneInternal85","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388925.400 ,"ph":"B","name":"setStatusBarMessage86","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388940.500 ,"ph":"E","name":"setStatusBarMessage86","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388940.601 ,"ph":"B","name":"updateOpenGL87","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":390991.700 ,"ph":"E","name":"updateOpenGL87","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":388940.600 ,"ph":"B","name":"renderGui88","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":390992.000 ,"ph":"E","name":"renderGui88","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":390992.100 ,"ph":"B","name":"Sync Parameters89","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":390992.200 ,"ph":"E","name":"Sync Parameters89","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":390992.200 ,"ph":"B","name":"Swap Buffers90","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391005.600 ,"ph":"E","name":"Swap Buffers90","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391005.600 ,"ph":"B","name":"forceUpdateScrollBars91","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391006.100 ,"ph":"E","name":"forceUpdateScrollBars91","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391007.200 ,"ph":"B","name":"mainThreadRelease92","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391013.100 ,"ph":"E","name":"mainThreadRelease92","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391007.000 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag93","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391013.200 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag93","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391013.300 ,"ph":"B","name":"updateGraphics94","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":391013.400 ,"ph":"E","name":"updateGraphics94","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":395007.300 ,"ph":"B","name":"updateGraphics95","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":395007.500 ,"ph":"E","name":"updateGraphics95","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":399007.700 ,"ph":"B","name":"updateGraphics96","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":399007.900 ,"ph":"E","name":"updateGraphics96","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400777.100 ,"ph":"B","name":"mainThreadRelease97","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400777.400 ,"ph":"E","name":"mainThreadRelease97","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400776.000 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag98","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400777.500 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag98","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400779.700 ,"ph":"B","name":"mainThreadRelease99","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400779.900 ,"ph":"E","name":"mainThreadRelease99","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400779.600 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag100","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":400779.900 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag100","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":403007.100 ,"ph":"B","name":"updateGraphics101","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":403007.200 ,"ph":"E","name":"updateGraphics101","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":407007.200 ,"ph":"B","name":"updateGraphics102","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":407007.200 ,"ph":"E","name":"updateGraphics102","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":411007.100 ,"ph":"B","name":"updateGraphics103","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":411007.200 ,"ph":"E","name":"updateGraphics103","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":415007.100 ,"ph":"B","name":"updateGraphics104","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":415007.200 ,"ph":"E","name":"updateGraphics104","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":419007.200 ,"ph":"B","name":"updateGraphics105","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":419007.200 ,"ph":"E","name":"updateGraphics105","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":423007.400 ,"ph":"B","name":"updateGraphics106","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":423007.400 ,"ph":"E","name":"updateGraphics106","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":427007.300 ,"ph":"B","name":"updateGraphics107","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":427007.400 ,"ph":"E","name":"updateGraphics107","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":431007.300 ,"ph":"B","name":"updateGraphics108","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":431007.400 ,"ph":"E","name":"updateGraphics108","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":435007.400 ,"ph":"B","name":"updateGraphics109","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":435007.500 ,"ph":"E","name":"updateGraphics109","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":439007.400 ,"ph":"B","name":"updateGraphics110","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":439007.400 ,"ph":"E","name":"updateGraphics110","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443007.400 ,"ph":"B","name":"updateGraphics111","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443007.500 ,"ph":"E","name":"updateGraphics111","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443188.201 ,"ph":"B","name":"flipPixelsY112","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448925.100 ,"ph":"E","name":"flipPixelsY112","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448925.200 ,"ph":"B","name":"glGenerateMipmap113","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448926.100 ,"ph":"E","name":"glGenerateMipmap113","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443188.200 ,"ph":"B","name":"updateTexture114","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448926.200 ,"ph":"E","name":"updateTexture114","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443188.100 ,"ph":"B","name":"updateTexture115","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448926.300 ,"ph":"E","name":"updateTexture115","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443153.500 ,"ph":"B","name":"GLInstancingRenderer::registerTexture116","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448926.300 ,"ph":"E","name":"GLInstancingRenderer::registerTexture116","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448926.400 ,"ph":"B","name":"mainThreadRelease117","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448932.200 ,"ph":"E","name":"mainThreadRelease117","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":443152.800 ,"ph":"B","name":"eGUIHelperRegisterTexture118","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448932.300 ,"ph":"E","name":"eGUIHelperRegisterTexture118","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448933.200 ,"ph":"B","name":"updateGraphics119","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448933.300 ,"ph":"E","name":"updateGraphics119","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458187.100 ,"ph":"B","name":"mainThreadRelease120","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458192.400 ,"ph":"E","name":"mainThreadRelease120","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":448933.800 ,"ph":"B","name":"eGUIHelperRegisterGraphicsShape121","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458192.800 ,"ph":"E","name":"eGUIHelperRegisterGraphicsShape121","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458194.800 ,"ph":"B","name":"updateGraphics122","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458194.900 ,"ph":"E","name":"updateGraphics122","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458379.200 ,"ph":"B","name":"mainThreadRelease123","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458380.100 ,"ph":"E","name":"mainThreadRelease123","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458375.600 ,"ph":"B","name":"eGUIHelperCreateRigidBodyGraphicsObject124","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458380.300 ,"ph":"E","name":"eGUIHelperCreateRigidBodyGraphicsObject124","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458381.700 ,"ph":"B","name":"mainThreadRelease125","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458382.600 ,"ph":"E","name":"mainThreadRelease125","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458381.000 ,"ph":"B","name":"eGUIHelperChangeGraphicsInstanceSpecularColor126","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":458382.700 ,"ph":"E","name":"eGUIHelperChangeGraphicsInstanceSpecularColor126","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":462195.000 ,"ph":"B","name":"updateGraphics127","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":462195.000 ,"ph":"E","name":"updateGraphics127","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":466195.000 ,"ph":"B","name":"updateGraphics128","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":466195.200 ,"ph":"E","name":"updateGraphics128","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468677.700 ,"ph":"B","name":"mainThreadRelease129","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468678.100 ,"ph":"E","name":"mainThreadRelease129","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468676.000 ,"ph":"B","name":"eGUIHelperAutogenerateGraphicsObjects130","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468678.100 ,"ph":"E","name":"eGUIHelperAutogenerateGraphicsObjects130","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468908.600 ,"ph":"B","name":"mainThreadRelease131","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468908.900 ,"ph":"E","name":"mainThreadRelease131","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468908.500 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag132","args":{}},
+{"cat":"timing","pid":1,"tid":2,"ts":468908.900 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag132","args":{}}
+],
+"displayTimeUnit": "ns"}

robots/franka_calvin/panda.urdf

@@ -0,0 +1,378 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.05"/>
+       <mass value="2.9"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white">
+    		<color rgba="1. 1. 1. 1."/>
+  		</material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_link1">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
+       <mass value="2.7"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
+       <mass value="2.73"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+	  <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
+       <mass value="2.04"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link3.obj"/>
+      </geometry>
+      <material name="panda_red">
+    		<color rgba="1. 1. 1. 1."/>
+  		</material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
+       <mass value="2.08"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
+       <mass value="3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0.04 0 0"/>
+       <mass value="1.3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.08"/>
+       <mass value=".2"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8">
+  	 <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04"/>
+       <mass value=".81"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+       <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+        <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/visual/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+   <link name="panda_grasptarget">
+ <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+   </link>
+   <joint name="panda_grasptarget_hand" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_grasptarget"/>
+    <origin rpy="0 0 0" xyz="0 0 0.105"/>
+  </joint>
+
+<!-- attach camera object to gripper-->
+
+    <joint name="camera_joint" type='fixed'>
+	  <parent link="panda_hand"/>
+	  <child link="gripper_cam"/>
+	  <origin xyz="-0.1 0 0" rpy="1.3  0 -1.57"/>
+    </joint>
+
+	 <link name="gripper_cam">
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
+			<mass value="0.2"/>
+			<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+		</inertial>
+
+		<visual>
+		  <origin rpy="0 0 0" xyz="0 0 0"/>
+		  <geometry>
+			<box size=".08 .025 0.01"/>
+		  </geometry>
+		  <material name="panda_white"/>
+		</visual>
+
+	 </link>
+
+	<joint name="tcp_joint" type='fixed'>
+	  <parent link="panda_hand"/>
+	  <child link="tcp"/>
+	  <origin xyz="0 0 0.1" rpy="0 0 3.14"/>
+    </joint>
+
+	<link name="tcp">
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.0 0.0"/>
+			<mass value="0.00001"/>
+			<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+		</inertial>
+
+	 </link>
+
+</robot>