add Laikago quadruped model, thanks to Unitree for the cad meshes.

If you use the Laikago URDF, please add a citation to PyBullet: @MISC{coumans2018, author = {Erwin Coumans and Yunfei Bai}, title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning}, howpublished = {\url{http://pybullet.org}}, year = {2016--2018} }
author: Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com> 2018-10-26 18:49:58 -0700
committer: Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com> 2018-10-26 18:49:58 -0700
commit: 0511a36a673d004106d51244eaa2c289dab14557 (patch)
tree: 6849a519e1a8e78b9ce811ee24ec8b04fda42460 /examples/pybullet/gym/pybullet_data
parent: f1ac24cc608f6329bc4c5bcdb772bb897fedbc54 (diff)
download: bullet3-0511a36a673d004106d51244eaa2c289dab14557.tar.gz
22 files changed, 32098 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj
new file mode 100644
index 000000000..ad01c1f9d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.obj
@@ -0,0 +1,9330 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib chassis.mtl
+o EXP_OTL_-_EXP_OTL_BDYR1_median
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis.stl b/examples/pybullet/gym/pybullet_data/laikago/chassis.stl
new file mode 100644
index 000000000..ff95ee781
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl
new file mode 100644
index 000000000..0a5bc74fe
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None.002
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.800000 0.800000 0.800000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj
new file mode 100644
index 000000000..2d5a314e2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_mod.obj
@@ -0,0 +1,8167 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib chassis_mod.mtl
+o EXP_OTL_-_EXP_OTL_BDYR1_median.001
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
new file mode 100644
index 000000000..f7b40610a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd.obj
@@ -0,0 +1,1227 @@
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
new file mode 100644
index 000000000..d48d250f8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod.obj
@@ -0,0 +1,1644 @@
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/data1.txt b/examples/pybullet/gym/pybullet_data/laikago/data1.txt
new file mode 100644
index 000000000..887b6b7b3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/data1.txt
@@ -0,0 +1,2499 @@
+           1,      588975,    0.037199,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+           2,      588977,    0.037199,    0.660252,   -1.200187,   -0.028858,    0.618814,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243304
+           3,      588979,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048129,    0.690008,   -1.254816,   -0.050430,    0.661355,   -1.243334
+           4,      588981,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050430,    0.661355,   -1.243274
+           5,      588983,    0.037199,    0.660252,   -1.200187,   -0.028858,    0.618846,   -1.183148,    0.048225,    0.690041,   -1.254787,   -0.050430,    0.661355,   -1.243304
+           6,      588985,    0.037103,    0.660284,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050430,    0.661355,   -1.243304
+           7,      588987,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690041,   -1.254787,   -0.050525,    0.661355,   -1.243304
+           8,      588989,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050525,    0.661355,   -1.243304
+           9,      588991,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254816,   -0.050430,    0.661355,   -1.243304
+          10,      588993,    0.037103,    0.660252,   -1.200157,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050430,    0.661355,   -1.243304
+          11,      588995,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050430,    0.661388,   -1.243304
+          12,      588997,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          13,      588999,    0.037103,    0.660252,   -1.200187,   -0.028858,    0.618846,   -1.183148,    0.048225,    0.690041,   -1.254787,   -0.050430,    0.661355,   -1.243304
+          14,      589001,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243304
+          15,      589003,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243304
+          16,      589005,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243274
+          17,      589007,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          18,      589009,    0.037103,    0.660252,   -1.200216,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690041,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          19,      589011,    0.037103,    0.660252,   -1.200187,   -0.028858,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          20,      589013,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          21,      589015,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          22,      589017,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050525,    0.661355,   -1.243304
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+          24,      589021,    0.037103,    0.660219,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
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+          33,      589039,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243304
+          34,      589041,    0.037103,    0.660252,   -1.200187,   -0.029050,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          35,      589043,    0.037103,    0.660252,   -1.200187,   -0.028858,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          36,      589045,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          37,      589047,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618879,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          38,      589049,    0.037103,    0.660219,   -1.200157,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243334
+          39,      589051,    0.037007,    0.660219,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690041,   -1.254787,   -0.050525,    0.661355,   -1.243334
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+          41,      589055,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          42,      589057,    0.037007,    0.660252,   -1.200157,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254816,   -0.050525,    0.661355,   -1.243334
+          43,      589059,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243334
+          44,      589061,    0.037007,    0.660219,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          45,      589063,    0.037007,    0.660219,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690041,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          46,      589065,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254816,   -0.050525,    0.661355,   -1.243304
+          47,      589067,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690041,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          48,      589069,    0.037103,    0.660219,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          49,      589071,    0.037103,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183178,    0.048225,    0.690008,   -1.254787,   -0.050621,    0.661355,   -1.243304
+          50,      589073,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618846,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
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+          53,      589079,    0.037103,    0.660219,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048225,    0.690008,   -1.254787,   -0.050525,    0.661355,   -1.243304
+          54,      589081,    0.037007,    0.660252,   -1.200187,   -0.028954,    0.618814,   -1.183148,    0.048129,    0.690008,   -1.254787,   -0.050430,    0.661355,   -1.243304
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+        1926,      592840,    0.062318,    0.696952,   -1.320435,    0.005944,    0.661258,   -1.291623,    0.006807,    0.698802,   -1.312433,   -0.082164,    0.682318,   -1.306201
+        1927,      592842,    0.063181,    0.698510,   -1.323955,    0.006807,    0.663529,   -1.295150,    0.005752,    0.700100,   -1.316068,   -0.083314,    0.684784,   -1.309921
+        1928,      592844,    0.064044,    0.700068,   -1.327569,    0.007862,    0.665833,   -1.298799,    0.004794,    0.701463,   -1.319645,   -0.084561,    0.687282,   -1.313645
+        1929,      592846,    0.065002,    0.701593,   -1.331157,    0.008820,    0.668170,   -1.302243,    0.003835,    0.702696,   -1.323318,   -0.085519,    0.689651,   -1.317462
+        1930,      592848,    0.066057,    0.703020,   -1.334992,    0.009779,    0.670571,   -1.306080,    0.002780,    0.704059,   -1.326840,   -0.086574,    0.691988,   -1.321193
+        1931,      592850,    0.067208,    0.704481,   -1.338920,    0.010834,    0.672875,   -1.309891,    0.001822,    0.705357,   -1.330488,   -0.087629,    0.694324,   -1.324867
+        1932,      592852,    0.068358,    0.705941,   -1.342884,    0.011888,    0.675341,   -1.313735,    0.000767,    0.706622,   -1.334200,   -0.088683,    0.696725,   -1.328573
+        1933,      592854,    0.069509,    0.707401,   -1.346881,    0.012943,    0.677775,   -1.317493,   -0.000288,    0.707823,   -1.337824,   -0.089738,    0.699191,   -1.332405
+        1934,      592856,    0.070755,    0.708991,   -1.350761,    0.014093,    0.680403,   -1.321253,   -0.001342,    0.708991,   -1.341511,   -0.090888,    0.701690,   -1.336149
+        1935,      592858,    0.072001,    0.710581,   -1.354643,    0.015244,    0.682999,   -1.324987,   -0.002397,    0.710127,   -1.345080,   -0.092039,    0.704221,   -1.340017
+        1936,      592860,    0.073248,    0.712236,   -1.358530,    0.016299,    0.685530,   -1.328876,   -0.003451,    0.711133,   -1.348652,   -0.093189,    0.706785,   -1.343982
+        1937,      592862,    0.074494,    0.713761,   -1.362236,    0.017545,    0.688029,   -1.332799,   -0.004698,    0.712139,   -1.352135,   -0.094340,    0.709348,   -1.347889
+        1938,      592864,    0.075836,    0.715221,   -1.366223,    0.018695,    0.690527,   -1.336697,   -0.005848,    0.713080,   -1.355684,   -0.095682,    0.711977,   -1.351953
+        1939,      592866,    0.077178,    0.716552,   -1.370212,    0.019942,    0.693091,   -1.340505,   -0.006999,    0.714021,   -1.359143,   -0.097024,    0.714702,   -1.355990
+        1940,      592868,    0.078425,    0.717915,   -1.374328,    0.021284,    0.695622,   -1.344226,   -0.008149,    0.714929,   -1.362665,   -0.098367,    0.717396,   -1.359969
+        1941,      592870,    0.079863,    0.719213,   -1.378325,    0.022626,    0.698185,   -1.347645,   -0.009300,    0.715741,   -1.366130,   -0.099709,    0.719927,   -1.363891
+        1942,      592872,    0.081301,    0.720381,   -1.382480,    0.023968,    0.700846,   -1.351249,   -0.010354,    0.716617,   -1.369474,   -0.101051,    0.722588,   -1.367633
+        1943,      592874,    0.082643,    0.721614,   -1.386639,    0.025407,    0.703442,   -1.354889,   -0.011409,    0.717525,   -1.373006,   -0.102201,    0.725216,   -1.371163
+        1944,      592876,    0.084369,    0.722815,   -1.390711,    0.026845,    0.705973,   -1.358560,   -0.012559,    0.718434,   -1.376449,   -0.103448,    0.727779,   -1.374851
+        1945,      592878,    0.085903,    0.724015,   -1.394817,    0.028283,    0.708602,   -1.362297,   -0.013614,    0.719407,   -1.379956,   -0.104790,    0.730278,   -1.378448
+        1946,      592880,    0.087437,    0.725248,   -1.398772,    0.029721,    0.711295,   -1.365946,   -0.014860,    0.720348,   -1.383311,   -0.106036,    0.732712,   -1.381926
+        1947,      592882,    0.089067,    0.726546,   -1.402855,    0.031063,    0.713923,   -1.369690,   -0.016011,    0.721290,   -1.386763,   -0.107379,    0.735243,   -1.385438
+        1948,      592884,    0.090792,    0.727747,   -1.406849,    0.032597,    0.716552,   -1.373406,   -0.017161,    0.722198,   -1.390001,   -0.108721,    0.737644,   -1.388860
+        1949,      592886,    0.092326,    0.728915,   -1.410538,    0.033843,    0.719213,   -1.377002,   -0.018312,    0.723074,   -1.393303,   -0.110255,    0.740045,   -1.392470
+        1950,      592888,    0.093860,    0.730051,   -1.414383,    0.035090,    0.721841,   -1.380448,   -0.019558,    0.723918,   -1.396361,   -0.111597,    0.742479,   -1.396145
+        1951,      592890,    0.095490,    0.731154,   -1.418233,    0.036432,    0.724567,   -1.383681,   -0.020805,    0.724632,   -1.399360,   -0.113227,    0.744913,   -1.399793
+        1952,      592892,    0.097120,    0.732225,   -1.422025,    0.037774,    0.727228,   -1.386639,   -0.022147,    0.725248,   -1.402205,   -0.114761,    0.747411,   -1.403505
+        1953,      592894,    0.098558,    0.733231,   -1.425757,    0.039117,    0.729791,   -1.389600,   -0.023489,    0.725800,   -1.405114,   -0.116391,    0.749878,   -1.407035
+        1954,      592896,    0.100188,    0.734140,   -1.429494,    0.040555,    0.732355,   -1.392408,   -0.024927,    0.726189,   -1.407965,   -0.118117,    0.752279,   -1.410475
+        1955,      592898,    0.101914,    0.734983,   -1.433015,    0.041993,    0.734853,   -1.395311,   -0.026269,    0.726546,   -1.410754,   -0.119842,    0.754745,   -1.413762
+        1956,      592900,    0.103544,    0.735827,   -1.436539,    0.043335,    0.737190,   -1.398246,   -0.027803,    0.726903,   -1.413732,   -0.121568,    0.757211,   -1.416742
+        1957,      592902,    0.105174,    0.736703,   -1.439910,    0.044677,    0.739688,   -1.401060,   -0.029146,    0.727195,   -1.416587,   -0.123198,    0.759580,   -1.419755
+        1958,      592904,    0.106899,    0.737482,   -1.443191,    0.046115,    0.742090,   -1.403814,   -0.030584,    0.727552,   -1.419415,   -0.124924,    0.761884,   -1.422832
+        1959,      592906,    0.108625,    0.738293,   -1.446473,    0.047458,    0.744426,   -1.406322,   -0.032022,    0.727942,   -1.422025,   -0.126553,    0.763961,   -1.425945
+        1960,      592908,    0.110255,    0.739039,   -1.449696,    0.048800,    0.746762,   -1.408615,   -0.033460,    0.728331,   -1.424669,   -0.128183,    0.766102,   -1.429027
+        1961,      592910,    0.111981,    0.739753,   -1.452765,    0.050142,    0.749066,   -1.410754,   -0.034802,    0.728688,   -1.427221,   -0.129909,    0.768244,   -1.432142
+        1962,      592912,    0.113610,    0.740435,   -1.455868,    0.051484,    0.751305,   -1.412862,   -0.036240,    0.729013,   -1.429743,   -0.131539,    0.770256,   -1.435198
+        1963,      592914,    0.115336,    0.741019,   -1.458971,    0.052731,    0.753544,   -1.414943,   -0.037678,    0.729272,   -1.432267,   -0.133169,    0.772398,   -1.438286
+        1964,      592917,    0.117829,    0.741895,   -1.463367,    0.054456,    0.756822,   -1.418233,   -0.039883,    0.729532,   -1.436070,   -0.135757,    0.775578,   -1.442628
+        1965,      592919,    0.119459,    0.742414,   -1.466288,    0.055415,    0.759028,   -1.420378,   -0.041417,    0.729662,   -1.438505,   -0.137675,    0.777719,   -1.445379
+        1966,      592921,    0.121184,    0.742901,   -1.469087,    0.055799,    0.761203,   -1.422275,   -0.042856,    0.729726,   -1.440784,   -0.139401,    0.779829,   -1.447974
+        1967,      592923,    0.122910,    0.743290,   -1.471792,    0.056278,    0.763377,   -1.424140,   -0.044390,    0.729726,   -1.442784,   -0.141222,    0.781938,   -1.450354
+        1968,      592925,    0.124732,    0.743712,   -1.474499,    0.057428,    0.765421,   -1.425757,   -0.045540,    0.729694,   -1.444847,   -0.143044,    0.783852,   -1.452515
+        1969,      592927,    0.126458,    0.744102,   -1.476956,    0.058483,    0.767563,   -1.427095,   -0.046499,    0.729597,   -1.446817,   -0.144674,    0.785767,   -1.454707
+        1970,      592929,    0.128183,    0.744394,   -1.479257,    0.059634,    0.769639,   -1.428247,   -0.046882,    0.729434,   -1.448851,   -0.146208,    0.787584,   -1.456933
+        1971,      592931,    0.129717,    0.744718,   -1.481307,    0.060880,    0.771554,   -1.429244,   -0.047458,    0.729272,   -1.450823,   -0.147358,    0.789207,   -1.459223
+        1972,      592933,    0.131155,    0.744945,   -1.483200,    0.062030,    0.773241,   -1.430272,   -0.048225,    0.729013,   -1.452827,   -0.147933,    0.790861,   -1.461576
+        1973,      592935,    0.132498,    0.745108,   -1.485093,    0.063277,    0.774799,   -1.431363,   -0.049087,    0.728753,   -1.454801,   -0.148029,    0.792516,   -1.463962
+        1974,      592937,    0.133744,    0.745205,   -1.486831,    0.064523,    0.776421,   -1.432578,   -0.050046,    0.728461,   -1.456745,   -0.148796,    0.794204,   -1.466351
+        1975,      592939,    0.134703,    0.745237,   -1.488695,    0.065769,    0.778044,   -1.433856,   -0.051484,    0.728136,   -1.458565,   -0.151001,    0.795891,   -1.468709
+        1976,      592941,    0.135278,    0.745270,   -1.490496,    0.066920,    0.779731,   -1.435135,   -0.052731,    0.727812,   -1.460227,   -0.153206,    0.797708,   -1.470942
+        1977,      592943,    0.135182,    0.745335,   -1.492203,    0.068070,    0.781386,   -1.436352,   -0.054169,    0.727520,   -1.461638,   -0.155316,    0.799623,   -1.472956
+        1978,      592945,    0.135182,    0.745400,   -1.493880,    0.069221,    0.783171,   -1.437319,   -0.055511,    0.727228,   -1.462926,   -0.157233,    0.801537,   -1.474688
+        1979,      592947,    0.136524,    0.745465,   -1.495526,    0.070563,    0.785085,   -1.438131,   -0.056853,    0.726838,   -1.464089,   -0.158959,    0.803452,   -1.476137
+        1980,      592949,    0.138346,    0.745497,   -1.497172,    0.071809,    0.786935,   -1.438693,   -0.058195,    0.726287,   -1.465314,   -0.161068,    0.805204,   -1.477366
+        1981,      592951,    0.140072,    0.745529,   -1.498788,    0.073056,    0.788655,   -1.438974,   -0.059346,    0.725605,   -1.466698,   -0.162985,    0.806729,   -1.478626
+        1982,      592953,    0.141797,    0.745529,   -1.500340,    0.074206,    0.790375,   -1.439131,   -0.060688,    0.724924,   -1.468206,   -0.164999,    0.808125,   -1.480013
+        1983,      592955,    0.143331,    0.745562,   -1.501798,    0.075453,    0.791867,   -1.439255,   -0.062126,    0.724178,   -1.469809,   -0.167012,    0.809325,   -1.481464
+        1984,      592957,    0.145057,    0.745562,   -1.503035,    0.076891,    0.793230,   -1.439379,   -0.063852,    0.723431,   -1.471288,   -0.169121,    0.810331,   -1.483042
+        1985,      592959,    0.146783,    0.745627,   -1.504018,    0.078329,    0.794593,   -1.439536,   -0.065578,    0.722685,   -1.472641,   -0.171135,    0.811337,   -1.484558
+        1986,      592961,    0.148413,    0.745692,   -1.504811,    0.079671,    0.795859,   -1.439692,   -0.067112,    0.722068,   -1.473712,   -0.173148,    0.812408,   -1.485915
+        1987,      592963,    0.150426,    0.745789,   -1.505540,    0.081205,    0.797124,   -1.439785,   -0.068933,    0.721419,   -1.474593,   -0.175161,    0.813544,   -1.487020
+        1988,      592965,    0.152439,    0.745919,   -1.506207,    0.082739,    0.798357,   -1.439848,   -0.070659,    0.720738,   -1.475287,   -0.177175,    0.814842,   -1.487872
+        1989,      592967,    0.154453,    0.746113,   -1.506810,    0.084273,    0.799525,   -1.439817,   -0.072385,    0.720024,   -1.475948,   -0.179092,    0.816107,   -1.488599
+        1990,      592969,    0.156370,    0.746341,   -1.507444,    0.085903,    0.800759,   -1.439785,   -0.074111,    0.719180,   -1.476609,   -0.180914,    0.817438,   -1.489232
+        1991,      592971,    0.158288,    0.746535,   -1.508048,    0.087533,    0.801927,   -1.439754,   -0.075644,    0.718272,   -1.477271,   -0.182831,    0.818671,   -1.490054
+        1992,      592973,    0.160301,    0.746665,   -1.508619,    0.088971,    0.803062,   -1.439754,   -0.077178,    0.717233,   -1.477965,   -0.184749,    0.819774,   -1.490971
+        1993,      592975,    0.162314,    0.746698,   -1.509191,    0.090313,    0.804198,   -1.439723,   -0.078712,    0.716098,   -1.478595,   -0.186762,    0.820780,   -1.491951
+        1994,      592977,    0.164136,    0.746568,   -1.509667,    0.091559,    0.805172,   -1.439660,   -0.080246,    0.714929,   -1.479163,   -0.188776,    0.821721,   -1.493026
+        1995,      592979,    0.165958,    0.746341,   -1.510112,    0.092806,    0.806210,   -1.439598,   -0.081780,    0.713761,   -1.479510,   -0.190693,    0.822532,   -1.494102
+        1996,      592981,    0.167683,    0.746049,   -1.510461,    0.093956,    0.807249,   -1.439536,   -0.083218,    0.712561,   -1.479698,   -0.192706,    0.823376,   -1.494957
+        1997,      592983,    0.169505,    0.745692,   -1.510747,    0.095107,    0.808254,   -1.439443,   -0.084561,    0.711360,   -1.479730,   -0.194624,    0.824220,   -1.495495
+        1998,      592985,    0.171326,    0.745270,   -1.510970,    0.096353,    0.809260,   -1.439255,   -0.085903,    0.710192,   -1.479667,   -0.196254,    0.825031,   -1.495748
+        1999,      592987,    0.173052,    0.744718,   -1.511192,    0.097504,    0.810266,   -1.439037,   -0.087245,    0.708926,   -1.479635,   -0.197884,    0.825777,   -1.495811
+        2000,      592989,    0.174874,    0.744102,   -1.511351,    0.098846,    0.811272,   -1.438817,   -0.088396,    0.707628,   -1.479667,   -0.199513,    0.826459,   -1.495811
+        2001,      592991,    0.176695,    0.743485,   -1.511510,    0.100188,    0.812246,   -1.438568,   -0.089642,    0.706265,   -1.479730,   -0.201047,    0.827010,   -1.495842
+        2002,      592993,    0.178517,    0.742804,   -1.511638,    0.101626,    0.813154,   -1.438319,   -0.090793,    0.704870,   -1.479698,   -0.202581,    0.827432,   -1.496001
+        2003,      592995,    0.180434,    0.742122,   -1.511733,    0.103064,    0.814030,   -1.438068,   -0.091751,    0.703410,   -1.479635,   -0.203828,    0.827692,   -1.496255
+        2004,      592997,    0.182352,    0.741441,   -1.511827,    0.104502,    0.814842,   -1.437850,   -0.092902,    0.701982,   -1.479510,   -0.205362,    0.827919,   -1.496507
+        2005,      592999,    0.184365,    0.740727,   -1.511859,    0.105941,    0.815620,   -1.437569,   -0.093861,    0.700554,   -1.479383,   -0.206704,    0.828114,   -1.496698
+        2006,      593001,    0.186283,    0.739981,   -1.511859,    0.107379,    0.816367,   -1.437288,   -0.094723,    0.699094,   -1.479226,   -0.208046,    0.828276,   -1.496792
+        2007,      593003,    0.188296,    0.739267,   -1.511859,    0.108721,    0.817048,   -1.437006,   -0.095586,    0.697634,   -1.479068,   -0.209197,    0.828503,   -1.496792
+        2008,      593005,    0.190118,    0.738553,   -1.511892,    0.110063,    0.817730,   -1.436664,   -0.096449,    0.696206,   -1.478879,   -0.210539,    0.828698,   -1.496729
+        2009,      593007,    0.192131,    0.737806,   -1.511892,    0.111405,    0.818346,   -1.436290,   -0.097216,    0.694811,   -1.478658,   -0.211785,    0.828892,   -1.496698
+        2010,      593009,    0.193953,    0.737092,   -1.511859,    0.112748,    0.818995,   -1.435914,   -0.097983,    0.693415,   -1.478407,   -0.212936,    0.829055,   -1.496729
+        2011,      593011,    0.195774,    0.736379,   -1.511859,    0.114090,    0.819612,   -1.435510,   -0.098654,    0.691988,   -1.478122,   -0.214182,    0.829217,   -1.496698
+        2012,      593013,    0.197500,    0.735632,   -1.511892,    0.115240,    0.820163,   -1.435104,   -0.099517,    0.690592,   -1.477775,   -0.215333,    0.829282,   -1.496698
+        2013,      593015,    0.199226,    0.734886,   -1.511892,    0.116391,    0.820748,   -1.434700,   -0.100380,    0.689197,   -1.477430,   -0.216675,    0.829314,   -1.496635
+        2014,      593017,    0.200760,    0.734140,   -1.511859,    0.117637,    0.821267,   -1.434293,   -0.101147,    0.687769,   -1.477019,   -0.217921,    0.829314,   -1.496602
+        2015,      593019,    0.202294,    0.733426,   -1.511859,    0.118788,    0.821786,   -1.433888,   -0.102010,    0.686309,   -1.476515,   -0.219168,    0.829314,   -1.496570
+        2016,      593021,    0.203732,    0.732679,   -1.511859,    0.119842,    0.822305,   -1.433451,   -0.103064,    0.684881,   -1.476043,   -0.220510,    0.829314,   -1.496507
+        2017,      593023,    0.205170,    0.732030,   -1.511859,    0.120993,    0.822727,   -1.432952,   -0.104023,    0.683421,   -1.475475,   -0.221756,    0.829282,   -1.496412
+        2018,      593025,    0.206704,    0.731381,   -1.511859,    0.122047,    0.823214,   -1.432454,   -0.105078,    0.681928,   -1.474941,   -0.223002,    0.829282,   -1.496349
+        2019,      593027,    0.208046,    0.730765,   -1.511859,    0.123102,    0.823571,   -1.431892,   -0.106036,    0.680435,   -1.474373,   -0.224249,    0.829282,   -1.496255
+        2020,      593029,    0.209484,    0.730213,   -1.511827,    0.124061,    0.823960,   -1.431270,   -0.107091,    0.678943,   -1.473837,   -0.225399,    0.829249,   -1.496159
+        2021,      593031,    0.210826,    0.729662,   -1.511827,    0.125115,    0.824285,   -1.430646,   -0.108146,    0.677515,   -1.473303,   -0.226646,    0.829282,   -1.496064
+        2022,      593033,    0.212265,    0.729142,   -1.511859,    0.126170,    0.824577,   -1.429992,   -0.109104,    0.676185,   -1.472799,   -0.227700,    0.829314,   -1.496001
+        2023,      593035,    0.213607,    0.728656,   -1.511827,    0.127129,    0.824836,   -1.429369,   -0.110063,    0.674919,   -1.472358,   -0.228755,    0.829314,   -1.495906
+        2024,      593037,    0.214949,    0.728201,   -1.511827,    0.128087,    0.825063,   -1.428715,   -0.111022,    0.673783,   -1.471981,   -0.229714,    0.829314,   -1.495811
+        2025,      593039,    0.216100,    0.727779,   -1.511796,    0.129046,    0.825291,   -1.428061,   -0.112077,    0.672713,   -1.471666,   -0.230672,    0.829314,   -1.495716
+        2026,      593041,    0.217250,    0.727358,   -1.511765,    0.129909,    0.825485,   -1.427408,   -0.112844,    0.671739,   -1.471413,   -0.231727,    0.829347,   -1.495621
+        2027,      593043,    0.218305,    0.726936,   -1.511765,    0.130772,    0.825712,   -1.426754,   -0.113706,    0.670830,   -1.471195,   -0.232782,    0.829379,   -1.495558
+        2028,      593045,    0.219263,    0.726546,   -1.511733,    0.131539,    0.825907,   -1.426132,   -0.114665,    0.670084,   -1.471036,   -0.233836,    0.829379,   -1.495462
+        2029,      593047,    0.220222,    0.726157,   -1.511700,    0.132402,    0.826069,   -1.425570,   -0.115528,    0.669338,   -1.470879,   -0.234891,    0.829412,   -1.495400
+        2030,      593049,    0.220989,    0.725865,   -1.511669,    0.132977,    0.826296,   -1.424980,   -0.116391,    0.668689,   -1.470816,   -0.236041,    0.829476,   -1.495336
+        2031,      593051,    0.221756,    0.725508,   -1.511606,    0.133648,    0.826459,   -1.424420,   -0.117158,    0.668007,   -1.470723,   -0.237096,    0.829509,   -1.495272
+        2032,      593053,    0.222427,    0.725216,   -1.511606,    0.134223,    0.826621,   -1.423797,   -0.118021,    0.667391,   -1.470659,   -0.238246,    0.829541,   -1.495209
+        2033,      593055,    0.223194,    0.724924,   -1.511574,    0.134799,    0.826751,   -1.423238,   -0.118883,    0.666839,   -1.470659,   -0.239301,    0.829606,   -1.495178
+        2034,      593057,    0.223769,    0.724664,   -1.511541,    0.135278,    0.826881,   -1.422647,   -0.119650,    0.666320,   -1.470628,   -0.240356,    0.829671,   -1.495115
+        2035,      593059,    0.224441,    0.724405,   -1.511510,    0.135757,    0.826978,   -1.422025,   -0.120322,    0.665833,   -1.470628,   -0.241314,    0.829704,   -1.495082
+        2036,      593061,    0.225112,    0.724242,   -1.511510,    0.136141,    0.827043,   -1.421403,   -0.121089,    0.665346,   -1.470659,   -0.242177,    0.829801,   -1.495051
+        2037,      593063,    0.225687,    0.724015,   -1.511510,    0.136620,    0.827075,   -1.420751,   -0.121760,    0.664892,   -1.470659,   -0.242944,    0.829866,   -1.494988
+        2038,      593065,    0.226262,    0.723853,   -1.511479,    0.137004,    0.827140,   -1.420159,   -0.122431,    0.664470,   -1.470659,   -0.243711,    0.829898,   -1.495020
+        2039,      593067,    0.226837,    0.723658,   -1.511447,    0.137387,    0.827108,   -1.419600,   -0.123006,    0.664048,   -1.470659,   -0.244382,    0.829931,   -1.495020
+        2040,      593069,    0.227317,    0.723464,   -1.511447,    0.137771,    0.827075,   -1.419072,   -0.123581,    0.663724,   -1.470659,   -0.245053,    0.829996,   -1.495020
+        2041,      593071,    0.227796,    0.723334,   -1.511414,    0.138154,    0.827108,   -1.418667,   -0.124157,    0.663399,   -1.470723,   -0.245725,    0.830061,   -1.495020
+        2042,      593073,    0.228180,    0.723204,   -1.511414,    0.138538,    0.827075,   -1.418233,   -0.124732,    0.663075,   -1.470723,   -0.246300,    0.830125,   -1.495020
+        2043,      593075,    0.228563,    0.723042,   -1.511383,    0.138825,    0.827075,   -1.417892,   -0.125307,    0.662783,   -1.470723,   -0.246971,    0.830190,   -1.495020
+        2044,      593077,    0.228851,    0.722912,   -1.511383,    0.139017,    0.827108,   -1.417581,   -0.125786,    0.662556,   -1.470723,   -0.247546,    0.830255,   -1.495020
+        2045,      593079,    0.229043,    0.722782,   -1.511351,    0.139113,    0.827075,   -1.417363,   -0.126074,    0.662361,   -1.470753,   -0.248026,    0.830288,   -1.495020
+        2046,      593081,    0.229234,    0.722652,   -1.511192,    0.139305,    0.827043,   -1.417053,   -0.126362,    0.662166,   -1.470659,   -0.248505,    0.830255,   -1.494988
+        2047,      593083,    0.229330,    0.722523,   -1.511034,    0.139305,    0.826978,   -1.416742,   -0.126553,    0.662004,   -1.470659,   -0.248697,    0.830190,   -1.494925
+        2048,      593085,    0.229330,    0.722393,   -1.510843,    0.139209,    0.826913,   -1.416370,   -0.126649,    0.661874,   -1.470596,   -0.248888,    0.830125,   -1.494861
+        2049,      593087,    0.229330,    0.722263,   -1.510589,    0.139209,    0.826718,   -1.415905,   -0.126553,    0.661777,   -1.470469,   -0.248793,    0.830028,   -1.494703
+        2050,      593089,    0.229330,    0.722068,   -1.510271,    0.139209,    0.826524,   -1.415377,   -0.126553,    0.661647,   -1.470250,   -0.248793,    0.829931,   -1.494513
+        2051,      593091,    0.229330,    0.721906,   -1.509889,    0.139113,    0.826264,   -1.414849,   -0.126458,    0.661582,   -1.470030,   -0.248697,    0.829769,   -1.494260
+        2052,      593093,    0.229234,    0.721711,   -1.509572,    0.139113,    0.825907,   -1.414383,   -0.126553,    0.661452,   -1.469746,   -0.248601,    0.829574,   -1.494007
+        2053,      593095,    0.229234,    0.721484,   -1.509160,    0.139017,    0.825550,   -1.413918,   -0.126362,    0.661355,   -1.469526,   -0.248505,    0.829444,   -1.493785
+        2054,      593097,    0.229138,    0.721257,   -1.508746,    0.138921,    0.825161,   -1.413515,   -0.126266,    0.661258,   -1.469275,   -0.248409,    0.829249,   -1.493564
+        2055,      593099,    0.229043,    0.721030,   -1.508302,    0.138825,    0.824706,   -1.413173,   -0.125978,    0.661193,   -1.469024,   -0.248313,    0.829055,   -1.493374
+        2056,      593101,    0.228851,    0.720770,   -1.507826,    0.138634,    0.824317,   -1.412800,   -0.125691,    0.661128,   -1.468740,   -0.248026,    0.828860,   -1.493152
+        2057,      593103,    0.228659,    0.720576,   -1.507349,    0.138346,    0.823895,   -1.412398,   -0.125403,    0.661063,   -1.468425,   -0.247642,    0.828665,   -1.492836
+        2058,      593105,    0.228371,    0.720348,   -1.506779,    0.138058,    0.823473,   -1.411901,   -0.124924,    0.661096,   -1.468048,   -0.247259,    0.828471,   -1.492426
+        2059,      593107,    0.228084,    0.720121,   -1.506175,    0.137675,    0.823019,   -1.411281,   -0.124444,    0.661096,   -1.467608,   -0.246683,    0.828243,   -1.491983
+        2060,      593109,    0.227604,    0.719894,   -1.505604,    0.137195,    0.822532,   -1.410630,   -0.123869,    0.661096,   -1.467136,   -0.246012,    0.827984,   -1.491476
+        2061,      593111,    0.227029,    0.719667,   -1.505001,    0.136716,    0.821916,   -1.409948,   -0.123294,    0.661160,   -1.466633,   -0.245245,    0.827692,   -1.490938
+        2062,      593113,    0.226358,    0.719407,   -1.504367,    0.136333,    0.821267,   -1.409266,   -0.122623,    0.661160,   -1.466194,   -0.244670,    0.827335,   -1.490370
+        2063,      593115,    0.225687,    0.719148,   -1.503637,    0.135757,    0.820488,   -1.408646,   -0.121951,    0.661160,   -1.465722,   -0.243903,    0.826945,   -1.489801
+        2064,      593117,    0.224920,    0.718856,   -1.502876,    0.135182,    0.819677,   -1.408027,   -0.121280,    0.661160,   -1.465282,   -0.243328,    0.826556,   -1.489232
+        2065,      593119,    0.224153,    0.718564,   -1.502020,    0.134607,    0.818801,   -1.407377,   -0.120609,    0.661193,   -1.464843,   -0.242657,    0.826102,   -1.488599
+        2066,      593121,    0.223290,    0.718239,   -1.501069,    0.133936,    0.817924,   -1.406694,   -0.120034,    0.661258,   -1.464277,   -0.241985,    0.825647,   -1.487810
+        2067,      593123,    0.222427,    0.717915,   -1.500118,    0.133360,    0.817081,   -1.405920,   -0.119459,    0.661323,   -1.463712,   -0.241410,    0.825193,   -1.486989
+        2068,      593125,    0.221468,    0.717558,   -1.499136,    0.132593,    0.816237,   -1.405114,   -0.118883,    0.661355,   -1.463052,   -0.240739,    0.824706,   -1.486136
+        2069,      593127,    0.220510,    0.717136,   -1.498153,    0.132018,    0.815426,   -1.404248,   -0.118212,    0.661452,   -1.462456,   -0.239876,    0.824155,   -1.485283
+        2070,      593129,    0.219647,    0.716714,   -1.497141,    0.131251,    0.814517,   -1.403319,   -0.117733,    0.661485,   -1.461829,   -0.239013,    0.823603,   -1.484399
+        2071,      593131,    0.218784,    0.716292,   -1.496096,    0.130580,    0.813544,   -1.402298,   -0.117158,    0.661550,   -1.461137,   -0.238246,    0.822987,   -1.483484
+        2072,      593133,    0.217825,    0.715870,   -1.494988,    0.129813,    0.812570,   -1.401277,   -0.116583,    0.661615,   -1.460415,   -0.237479,    0.822305,   -1.482506
+        2073,      593135,    0.216867,    0.715449,   -1.493721,    0.129046,    0.811499,   -1.400225,   -0.115911,    0.661680,   -1.459568,   -0.236521,    0.821591,   -1.481433
+        2074,      593137,    0.215908,    0.714962,   -1.492457,    0.128279,    0.810299,   -1.399082,   -0.115336,    0.661777,   -1.458626,   -0.235658,    0.820845,   -1.480266
+        2075,      593139,    0.214853,    0.714540,   -1.491002,    0.127416,    0.809033,   -1.397906,   -0.114761,    0.661842,   -1.457561,   -0.234795,    0.820066,   -1.478942
+        2076,      593141,    0.213799,    0.714021,   -1.489516,    0.126649,    0.807735,   -1.396731,   -0.113994,    0.661907,   -1.456432,   -0.233740,    0.819255,   -1.477492
+        2077,      593143,    0.212840,    0.713502,   -1.488000,    0.125882,    0.806405,   -1.395527,   -0.113323,    0.661939,   -1.455272,   -0.232877,    0.818314,   -1.475979
+        2078,      593145,    0.211689,    0.712885,   -1.486515,    0.125115,    0.805074,   -1.394291,   -0.112652,    0.661939,   -1.454112,   -0.232015,    0.817340,   -1.474279
+        2079,      593147,    0.210347,    0.712269,   -1.485093,    0.124252,    0.803776,   -1.393149,   -0.111981,    0.661907,   -1.452859,   -0.230960,    0.816302,   -1.472547
+        2080,      593149,    0.209197,    0.711620,   -1.483673,    0.123294,    0.802478,   -1.391852,   -0.111214,    0.661907,   -1.451669,   -0.230001,    0.815231,   -1.470911
+        2081,      593151,    0.207950,    0.710971,   -1.482285,    0.122431,    0.801213,   -1.390526,   -0.110543,    0.661874,   -1.450354,   -0.229043,    0.814095,   -1.469244
+        2082,      593153,    0.206704,    0.710386,   -1.480834,    0.121472,    0.799818,   -1.389107,   -0.109776,    0.661874,   -1.448977,   -0.227988,    0.813025,   -1.467608
+        2083,      593155,    0.205458,    0.709835,   -1.479257,    0.120417,    0.798357,   -1.387657,   -0.109009,    0.661842,   -1.447662,   -0.227029,    0.811824,   -1.465910
+        2084,      593157,    0.204115,    0.709251,   -1.477586,    0.119459,    0.796865,   -1.386177,   -0.108242,    0.661809,   -1.446411,   -0.225975,    0.810721,   -1.464215
+        2085,      593159,    0.202965,    0.708699,   -1.475759,    0.118500,    0.795275,   -1.384636,   -0.107379,    0.661874,   -1.445191,   -0.224920,    0.809455,   -1.462361
+        2086,      593161,    0.201623,    0.708083,   -1.473995,    0.117350,    0.793620,   -1.383034,   -0.106420,    0.661842,   -1.443909,   -0.223674,    0.808222,   -1.460446
+        2087,      593163,    0.200376,    0.707336,   -1.472138,    0.116295,    0.791965,   -1.381372,   -0.105365,    0.661842,   -1.442503,   -0.222523,    0.806989,   -1.458502
+        2088,      593165,    0.199034,    0.706557,   -1.469496,    0.114665,    0.789369,   -1.378664,   -0.103735,    0.661842,   -1.440191,   -0.220510,    0.804977,   -1.455491
+        2089,      593168,    0.196925,    0.705259,   -1.467671,    0.113610,    0.787649,   -1.376817,   -0.102777,    0.661777,   -1.438536,   -0.219263,    0.803614,   -1.453297
+        2090,      593170,    0.195487,    0.704416,   -1.465754,    0.112460,    0.785832,   -1.374881,   -0.101722,    0.661680,   -1.436883,   -0.217921,    0.802219,   -1.451074
+        2091,      593172,    0.193953,    0.703540,   -1.463586,    0.111405,    0.784047,   -1.373129,   -0.100763,    0.661615,   -1.435166,   -0.216675,    0.800759,   -1.448789
+        2092,      593174,    0.192323,    0.702793,   -1.461357,    0.110255,    0.782295,   -1.371317,   -0.099805,    0.661550,   -1.433514,   -0.215428,    0.799298,   -1.446505
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+        2426,      593844,    0.033076,    0.662750,   -1.258103,   -0.030680,    0.624460,   -1.237947,    0.040075,    0.678878,   -1.261243,   -0.051484,    0.647142,   -1.247000
+        2427,      593846,    0.033076,    0.662718,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040075,    0.678878,   -1.261243,   -0.051580,    0.647110,   -1.246969
+        2428,      593848,    0.033076,    0.662686,   -1.258133,   -0.030680,    0.624427,   -1.237947,    0.040075,    0.678845,   -1.261273,   -0.051484,    0.647077,   -1.247000
+        2429,      593850,    0.033076,    0.662653,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040075,    0.678813,   -1.261243,   -0.051580,    0.647012,   -1.247000
+        2430,      593852,    0.033076,    0.662653,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040075,    0.678781,   -1.261243,   -0.051580,    0.646980,   -1.247000
+        2431,      593854,    0.033076,    0.662621,   -1.258103,   -0.030680,    0.624460,   -1.237947,    0.040171,    0.678781,   -1.261243,   -0.051580,    0.646948,   -1.246969
+        2432,      593856,    0.033076,    0.662621,   -1.258103,   -0.030680,    0.624460,   -1.237916,    0.040075,    0.678748,   -1.261273,   -0.051676,    0.646915,   -1.246969
+        2433,      593858,    0.033076,    0.662588,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040171,    0.678748,   -1.261243,   -0.051676,    0.646883,   -1.247000
+        2434,      593860,    0.033076,    0.662556,   -1.258103,   -0.030680,    0.624460,   -1.237947,    0.040171,    0.678716,   -1.261243,   -0.051772,    0.646818,   -1.247000
+        2435,      593862,    0.033076,    0.662523,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040267,    0.678683,   -1.261243,   -0.051772,    0.646785,   -1.246969
+        2436,      593864,    0.033076,    0.662458,   -1.258103,   -0.030680,    0.624427,   -1.237916,    0.040267,    0.678683,   -1.261243,   -0.051868,    0.646753,   -1.246969
+        2437,      593866,    0.033076,    0.662458,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040267,    0.678683,   -1.261273,   -0.051868,    0.646720,   -1.246969
+        2438,      593868,    0.033076,    0.662458,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040267,    0.678651,   -1.261243,   -0.051868,    0.646688,   -1.246969
+        2439,      593870,    0.033076,    0.662458,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040267,    0.678618,   -1.261273,   -0.051868,    0.646655,   -1.246969
+        2440,      593872,    0.033076,    0.662426,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040267,    0.678618,   -1.261243,   -0.051868,    0.646623,   -1.246969
+        2441,      593874,    0.033076,    0.662426,   -1.258103,   -0.030680,    0.624460,   -1.237916,    0.040363,    0.678586,   -1.261243,   -0.051772,    0.646623,   -1.246969
+        2442,      593876,    0.033172,    0.662394,   -1.258103,   -0.030680,    0.624460,   -1.237888,    0.040363,    0.678553,   -1.261273,   -0.051868,    0.646591,   -1.246969
+        2443,      593878,    0.033076,    0.662394,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040363,    0.678553,   -1.261273,   -0.051868,    0.646526,   -1.246969
+        2444,      593880,    0.033076,    0.662361,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040363,    0.678521,   -1.261273,   -0.051868,    0.646493,   -1.246969
+        2445,      593882,    0.033076,    0.662329,   -1.258103,   -0.030680,    0.624492,   -1.237916,    0.040459,    0.678521,   -1.261243,   -0.051868,    0.646461,   -1.246940
+        2446,      593884,    0.033076,    0.662329,   -1.258133,   -0.030680,    0.624492,   -1.237916,    0.040459,    0.678489,   -1.261273,   -0.051868,    0.646428,   -1.246969
+        2447,      593886,    0.033076,    0.662329,   -1.258103,   -0.030680,    0.624460,   -1.237916,    0.040459,    0.678521,   -1.261273,   -0.051868,    0.646396,   -1.247000
+        2448,      593888,    0.033172,    0.662296,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040459,    0.678456,   -1.261273,   -0.051964,    0.646363,   -1.247000
+        2449,      593890,    0.033076,    0.662296,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040459,    0.678489,   -1.261273,   -0.051964,    0.646331,   -1.246969
+        2450,      593892,    0.033076,    0.662296,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040459,    0.678456,   -1.261243,   -0.051964,    0.646331,   -1.246969
+        2451,      593894,    0.033076,    0.662264,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040555,    0.678456,   -1.261273,   -0.051964,    0.646299,   -1.246969
+        2452,      593896,    0.033076,    0.662264,   -1.258103,   -0.030775,    0.624460,   -1.237916,    0.040555,    0.678456,   -1.261243,   -0.051964,    0.646266,   -1.246969
+        2453,      593898,    0.032981,    0.662264,   -1.258103,   -0.030680,    0.624460,   -1.237916,    0.040555,    0.678456,   -1.261273,   -0.051964,    0.646234,   -1.246969
+        2454,      593900,    0.033076,    0.662231,   -1.258133,   -0.030775,    0.624427,   -1.237888,    0.040555,    0.678424,   -1.261273,   -0.051964,    0.646234,   -1.246969
+        2455,      593902,    0.033076,    0.662231,   -1.258133,   -0.030680,    0.624460,   -1.237916,    0.040555,    0.678424,   -1.261273,   -0.051868,    0.646201,   -1.246969
+        2456,      593904,    0.033076,    0.662231,   -1.258103,   -0.030680,    0.624427,   -1.237916,    0.040650,    0.678391,   -1.261273,   -0.051964,    0.646136,   -1.246969
+        2457,      593906,    0.033076,    0.662199,   -1.258103,   -0.030775,    0.624427,   -1.237916,    0.040650,    0.678391,   -1.261273,   -0.051868,    0.646136,   -1.246969
+        2458,      593908,    0.033076,    0.662199,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040650,    0.678391,   -1.261273,   -0.051868,    0.646104,   -1.246969
+        2459,      593910,    0.033076,    0.662199,   -1.258133,   -0.030680,    0.624427,   -1.237916,    0.040650,    0.678359,   -1.261273,   -0.051964,    0.646104,   -1.246969
+        2460,      593912,    0.033076,    0.662199,   -1.258133,   -0.030775,    0.624395,   -1.237888,    0.040650,    0.678359,   -1.261273,   -0.051868,    0.646104,   -1.246969
+        2461,      593914,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624395,   -1.237916,    0.040746,    0.678359,   -1.261273,   -0.051868,    0.646071,   -1.246969
+        2462,      593917,    0.033076,    0.662166,   -1.258133,   -0.030680,    0.624395,   -1.237888,    0.040746,    0.678359,   -1.261273,   -0.051772,    0.646039,   -1.246969
+        2463,      593919,    0.032981,    0.662199,   -1.258133,   -0.030680,    0.624395,   -1.237888,    0.040842,    0.678359,   -1.261243,   -0.051868,    0.646006,   -1.246969
+        2464,      593921,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624395,   -1.237916,    0.040842,    0.678359,   -1.261273,   -0.051772,    0.645974,   -1.246969
+        2465,      593923,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624363,   -1.237888,    0.040842,    0.678326,   -1.261273,   -0.051772,    0.645974,   -1.246969
+        2466,      593925,    0.033076,    0.662166,   -1.258103,   -0.030775,    0.624363,   -1.237888,    0.040842,    0.678326,   -1.261273,   -0.051772,    0.645942,   -1.246969
+        2467,      593927,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624330,   -1.237916,    0.040842,    0.678326,   -1.261273,   -0.051772,    0.645909,   -1.246969
+        2468,      593929,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624298,   -1.237916,    0.040842,    0.678326,   -1.261243,   -0.051772,    0.645909,   -1.246969
+        2469,      593931,    0.032981,    0.662134,   -1.258103,   -0.030680,    0.624298,   -1.237888,    0.040938,    0.678326,   -1.261243,   -0.051772,    0.645877,   -1.246969
+        2470,      593933,    0.032981,    0.662134,   -1.258133,   -0.030775,    0.624298,   -1.237916,    0.040938,    0.678326,   -1.261273,   -0.051772,    0.645877,   -1.247000
+        2471,      593935,    0.033076,    0.662166,   -1.258133,   -0.030680,    0.624298,   -1.237916,    0.040938,    0.678294,   -1.261243,   -0.051676,    0.645877,   -1.246969
+        2472,      593937,    0.033076,    0.662166,   -1.258133,   -0.030775,    0.624298,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051676,    0.645877,   -1.246969
+        2473,      593939,    0.033076,    0.662134,   -1.258103,   -0.030680,    0.624265,   -1.237888,    0.040938,    0.678326,   -1.261273,   -0.051676,    0.645844,   -1.246969
+        2474,      593941,    0.033076,    0.662134,   -1.258133,   -0.030775,    0.624265,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051676,    0.645844,   -1.247000
+        2475,      593943,    0.032981,    0.662166,   -1.258103,   -0.030680,    0.624298,   -1.237916,    0.041034,    0.678326,   -1.261273,   -0.051580,    0.645812,   -1.246969
+        2476,      593945,    0.032981,    0.662166,   -1.258103,   -0.030775,    0.624265,   -1.237916,    0.041034,    0.678326,   -1.261243,   -0.051676,    0.645812,   -1.246969
+        2477,      593947,    0.033076,    0.662166,   -1.258103,   -0.030775,    0.624265,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051676,    0.645812,   -1.246969
+        2478,      593949,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624233,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051676,    0.645779,   -1.246969
+        2479,      593951,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624233,   -1.237916,    0.041034,    0.678326,   -1.261273,   -0.051580,    0.645747,   -1.246969
+        2480,      593953,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624233,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051580,    0.645747,   -1.246940
+        2481,      593955,    0.032981,    0.662166,   -1.258103,   -0.030775,    0.624200,   -1.237888,    0.041034,    0.678326,   -1.261273,   -0.051580,    0.645747,   -1.246969
+        2482,      593957,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624200,   -1.237888,    0.041130,    0.678326,   -1.261273,   -0.051580,    0.645714,   -1.246969
+        2483,      593959,    0.032981,    0.662166,   -1.258103,   -0.030775,    0.624200,   -1.237916,    0.041130,    0.678359,   -1.261273,   -0.051580,    0.645714,   -1.246969
+        2484,      593961,    0.032981,    0.662166,   -1.258103,   -0.030680,    0.624200,   -1.237888,    0.041130,    0.678326,   -1.261243,   -0.051580,    0.645714,   -1.246969
+        2485,      593963,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624200,   -1.237888,    0.041130,    0.678326,   -1.261273,   -0.051484,    0.645747,   -1.246969
+        2486,      593965,    0.032981,    0.662166,   -1.258133,   -0.030775,    0.624200,   -1.237888,    0.041130,    0.678326,   -1.261273,   -0.051580,    0.645714,   -1.246969
+        2487,      593967,    0.033076,    0.662199,   -1.258133,   -0.030775,    0.624168,   -1.237888,    0.041226,    0.678326,   -1.261273,   -0.051484,    0.645714,   -1.246969
+        2488,      593969,    0.032981,    0.662199,   -1.258133,   -0.030775,    0.624168,   -1.237888,    0.041226,    0.678326,   -1.261273,   -0.051484,    0.645714,   -1.246969
+        2489,      593971,    0.033076,    0.662199,   -1.258133,   -0.030775,    0.624168,   -1.237888,    0.041226,    0.678326,   -1.261273,   -0.051484,    0.645682,   -1.246940
+        2490,      593973,    0.032981,    0.662199,   -1.258133,   -0.030775,    0.624168,   -1.237888,    0.041226,    0.678359,   -1.261273,   -0.051484,    0.645682,   -1.246969
+        2491,      593975,    0.033076,    0.662199,   -1.258103,   -0.030775,    0.624168,   -1.237888,    0.041226,    0.678359,   -1.261273,   -0.051388,    0.645650,   -1.246969
+        2492,      593977,    0.033076,    0.662231,   -1.258133,   -0.030775,    0.624168,   -1.237857,    0.041322,    0.678359,   -1.261243,   -0.051388,    0.645650,   -1.246940
+        2493,      593979,    0.033076,    0.662199,   -1.258133,   -0.030680,    0.624168,   -1.237888,    0.041322,    0.678359,   -1.261273,   -0.051388,    0.645650,   -1.246969
+        2494,      593981,    0.033076,    0.662231,   -1.258133,   -0.030680,    0.624168,   -1.237888,    0.041417,    0.678359,   -1.261303,   -0.051388,    0.645650,   -1.246940
+        2495,      593983,    0.033172,    0.662231,   -1.258133,   -0.030680,    0.624168,   -1.237857,    0.041417,    0.678359,   -1.261273,   -0.051292,    0.645650,   -1.246940
+        2496,      593985,    0.033172,    0.662231,   -1.258133,   -0.030680,    0.624168,   -1.237888,    0.041513,    0.678391,   -1.261273,   -0.051197,    0.645682,   -1.246940
+        2497,      593987,    0.033172,    0.662264,   -1.258133,   -0.030680,    0.624168,   -1.237888,    0.041513,    0.678391,   -1.261273,   -0.051292,    0.645650,   -1.246940
+        2498,      593989,    0.033268,    0.662231,   -1.258103,   -0.030680,    0.624168,   -1.237888,    0.041609,    0.678391,   -1.261273,   -0.051197,    0.645650,   -1.246940
+        2499,      593991,    0.033172,    0.662264,   -1.258133,   -0.030680,    0.624135,   -1.237888,    0.041513,    0.678391,   -1.261273,   -0.051197,    0.645650,   -1.246940 
+\ No newline at end of file
diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl
new file mode 100644
index 000000000..7aa76c967
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl
new file mode 100644
index 000000000..91cdb0da0
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.py b/examples/pybullet/gym/pybullet_data/laikago/laikago.py
new file mode 100644
index 000000000..5b4ab8f01
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.py
@@ -0,0 +1,100 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+plane = p.loadURDF("plane.urdf")
+p.setGravity(0,0,-9.8)
+p.setTimeStep(1./500)
+#p.setDefaultContactERP(0)
+#urdfFlags = p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS 
+urdfFlags = p.URDF_USE_SELF_COLLISION
+quadruped = p.loadURDF("laikago.urdf",[0,0,.5],[0,0.5,0.5,0], flags = urdfFlags,useFixedBase=False)
+
+#enable collision between lower legs
+
+for j in range (p.getNumJoints(quadruped)):
+		print(p.getJointInfo(quadruped,j))
+
+#2,5,8 and 11 are the lower legs
+lower_legs = [2,5,8,11]
+for l0 in lower_legs:
+	for l1 in lower_legs:
+		if (l1>l0):
+			enableCollision = 1
+			print("collision for pair",l0,l1, p.getJointInfo(quadruped,l0)[12],p.getJointInfo(quadruped,l1)[12], "enabled=",enableCollision)
+			p.setCollisionFilterPair(quadruped, quadruped, 2,5,enableCollision)
+
+jointIds=[]
+paramIds=[]
+jointOffsets=[]
+jointDirections=[-1,1,1,1,1,1,-1,1,1,1,1,1]
+jointAngles=[0,0,0,0,0,0,0,0,0,0,0,0]
+
+for i in range (4):
+	jointOffsets.append(0)
+	jointOffsets.append(-0.7)
+	jointOffsets.append(0.7)
+
+maxForceId = p.addUserDebugParameter("maxForce",0,100,20)
+
+for j in range (p.getNumJoints(quadruped)):
+        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
+        info = p.getJointInfo(quadruped,j)
+        #print(info)
+        jointName = info[1]
+        jointType = info[2]
+        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
+                jointIds.append(j)
+
+		
+p.getCameraImage(480,320)
+p.setRealTimeSimulation(0)
+
+joints=[]
+
+with open("data1.txt","r") as filestream:
+        for line in filestream:
+		print("line=",line)
+		maxForce = p.readUserDebugParameter(maxForceId)
+                currentline = line.split(",")
+                #print (currentline)
+                #print("-----")
+                frame = currentline[0]
+                t = currentline[1]
+                #print("frame[",frame,"]")
+                joints=currentline[2:14]
+                #print("joints=",joints)
+		for j in range (12):
+			targetPos = float(joints[j])
+			p.setJointMotorControl2(quadruped,jointIds[j],p.POSITION_CONTROL,jointDirections[j]*targetPos+jointOffsets[j], force=maxForce)
+ 		p.stepSimulation()
+		for lower_leg in lower_legs:
+			#print("points for ", quadruped, " link: ", lower_leg)
+			pts = p.getContactPoints(quadruped,-1, lower_leg)
+			#print("num points=",len(pts))
+			#for pt in pts:
+			#	print(pt[9])
+		time.sleep(1./500.)
+
+
+for j in range (p.getNumJoints(quadruped)):
+        p.changeDynamics(quadruped,j,linearDamping=0, angularDamping=0)
+        info = p.getJointInfo(quadruped,j)
+        js = p.getJointState(quadruped,j)
+        #print(info)
+        jointName = info[1]
+        jointType = info[2]
+        if (jointType==p.JOINT_PRISMATIC or jointType==p.JOINT_REVOLUTE):
+                paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"),-4,4,(js[0]-jointOffsets[j])/jointDirections[j]))
+
+
+p.setRealTimeSimulation(1)
+
+while (1):
+	
+	for i in range(len(paramIds)):
+		c = paramIds[i]
+		targetPos = p.readUserDebugParameter(c)
+		maxForce = p.readUserDebugParameter(maxForceId)
+		p.setJointMotorControl2(quadruped,jointIds[i],p.POSITION_CONTROL,jointDirections[i]*targetPos+jointOffsets[i], force=maxForce)
+	
diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
new file mode 100644
index 000000000..62e7e47b6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago.urdf
@@ -0,0 +1,477 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="chassis">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.03 0.043794"/>
+       <mass value="13.715"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="chassis.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="yellow">
+        <color rgba="0.95 0.75 0.05 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="-1.57 0 0" xyz="0 0 0.043794"/>
+      <geometry>
+      	
+				<mesh filename="chassis_vhacd_mod.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  
+ 
+	
+	 <link name="FR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    
+    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="FR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_hip_motor"/>
+		<child link="FR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="FR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FR_upper_leg"/>
+		<child link="FR_lower_leg"/>
+														
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="FL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green">
+        <color rgba="0.23 0.73 0.33 1"/>
+      </material>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="FL_hip_motor"/>
+		<origin rpy="0 0 0" xyz="0.0817145 0 0.242889"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="FL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+      	
+				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue">
+        <color rgba="0.28 0.52 0.93 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_hip_motor"/>
+		<child link="FL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="FL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red">
+        <color rgba="0.85 0.19 0.21 1"/>
+      </material>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="FL_upper_leg"/>
+		<child link="FL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	
+	
+	
+	
+	 <link name="RR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+	
+	  <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 -1"/>
+		<parent link="chassis"/>
+		<child link="RR_hip_motor"/>
+		<origin rpy="0 0 0" xyz="-0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_mirror.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_hip_motor"/>
+		<child link="RR_upper_leg"/>
+		<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+     <link name="RR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RR_upper_leg"/>
+		<child link="RR_lower_leg"/>
+		<origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	 <link name="RL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="green"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+      </link>
+  
+   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis"/>
+		<child link="RL_hip_motor"/>
+												
+		<origin rpy="0 0 0" xyz="0.0817145 0 -0.194401"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+  <link name="RL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="blue"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+  
+  
+  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_hip_motor"/>
+		<child link="RL_upper_leg"/>
+		<origin rpy="0 0 0" xyz="0.055855  0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	 
+  
+  <link name="RL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+       <material name="red"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    
+    </link>
+    
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
+		<axis xyz="1 0 0"/>
+		<parent link="RL_upper_leg"/>
+		<child link="RL_lower_leg"/>
+		<origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/laikago/license.txt b/examples/pybullet/gym/pybullet_data/laikago/license.txt
new file mode 100644
index 000000000..ac9f3b75f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/license.txt
@@ -0,0 +1,13 @@
+URDF model created by Erwin Coumans.
+Meshes derived from Laikago cad model, used by permission of Unitree.
+
+If you use the model, add a citation to PyBullet:
+
+@MISC{coumans2018,
+author =   {Erwin Coumans and Yunfei Bai},
+title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
+howpublished = {\url{http://pybullet.org}},
+year = {2016--2018}
+}
+
+
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl b/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl
new file mode 100644
index 000000000..8c1be81cb
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg_3.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl
new file mode 100644
index 000000000..0af4ee3ca
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
new file mode 100644
index 000000000..5c9264e54
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left.obj
@@ -0,0 +1,3394 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib upper_leg_left.mtl
+o EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint_EXP_OTL_-_EXP_OTL_FLA-1_EXP_OTL_FLA_FL2-1_median_joint.001
+v 0.031162 -0.045909 -0.057156
+v -0.002420 -0.044895 -0.057156
+v 0.031691 -0.043831 -0.055541
+v -0.002292 -0.040654 -0.054001
+v 0.032221 -0.041697 -0.054001
+v 0.032754 -0.039510 -0.052536
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
new file mode 100644
index 000000000..833a4183b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_vhacd.obj
@@ -0,0 +1,906 @@
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl
new file mode 100644
index 000000000..67f72a71a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror.stl
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
new file mode 100644
index 000000000..99f3d4f84
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right.obj
@@ -0,0 +1,3394 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib upper_leg_right.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
new file mode 100644
index 000000000..9e818aba6
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_right_vhacd.obj
@@ -0,0 +1,906 @@
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author	Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>	2018-10-26 18:49:58 -0700
committer	Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>	2018-10-26 18:49:58 -0700
commit	0511a36a673d004106d51244eaa2c289dab14557 (patch)
tree	6849a519e1a8e78b9ce811ee24ec8b04fda42460 /examples/pybullet/gym/pybullet_data
parent	f1ac24cc608f6329bc4c5bcdb772bb897fedbc54 (diff)
download	bullet3-0511a36a673d004106d51244eaa2c289dab14557.tar.gz