Upload folder using huggingface_hub

.gitattributes

@@ -1,6 +1,5 @@
 *.7z filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
 *.bin filter=lfs diff=lfs merge=lfs -text
 *.bz2 filter=lfs diff=lfs merge=lfs -text
 *.ckpt filter=lfs diff=lfs merge=lfs -text
@@ -58,3 +57,31 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+scenes/table/table.glb filter=lfs diff=lfs merge=lfs -text
+objects/hammer_annotated/base.glb filter=lfs diff=lfs merge=lfs -text
+objects/single_shoe_annotated/base.glb filter=lfs diff=lfs merge=lfs -text
+objects/bottle/BOTTLE[[:space:]]HIGH[[:space:]]POLY.fbx filter=lfs diff=lfs merge=lfs -text
+objects/bottle/BOTTLE[[:space:]]MID[[:space:]]POLY.fbx filter=lfs diff=lfs merge=lfs -text
+objects/bottle/BOTTLE.3dm filter=lfs diff=lfs merge=lfs -text
+objects/cap/Cap.3ds filter=lfs diff=lfs merge=lfs -text
+objects/cap/Cap.abc filter=lfs diff=lfs merge=lfs -text
+objects/cap/Cap.fbx filter=lfs diff=lfs merge=lfs -text
+objects/cap/Cap.stl filter=lfs diff=lfs merge=lfs -text
+objects/cola/Lata[[:space:]]de[[:space:]]refresco.c4d filter=lfs diff=lfs merge=lfs -text
+objects/cooling_fan/new.obj filter=lfs diff=lfs merge=lfs -text
+objects/cooling_fan/old.obj filter=lfs diff=lfs merge=lfs -text
+objects/cup/Cup.blend filter=lfs diff=lfs merge=lfs -text
+objects/cup/cayley_interior_1k.hdr filter=lfs diff=lfs merge=lfs -text
+objects/green_peas/new.obj filter=lfs diff=lfs merge=lfs -text
+objects/green_peas/old.obj filter=lfs diff=lfs merge=lfs -text
+objects/kettle/new.obj filter=lfs diff=lfs merge=lfs -text
+objects/kettle/old.obj filter=lfs diff=lfs merge=lfs -text
+objects/kettle/textured.obj filter=lfs diff=lfs merge=lfs -text
+objects/plate/Plate[[:space:]]BLEND.blend filter=lfs diff=lfs merge=lfs -text
+objects/pumpkin/pumpkin_.c4d filter=lfs diff=lfs merge=lfs -text
+objects/rock/Rock1.blend filter=lfs diff=lfs merge=lfs -text
+objects/rock/Rock1.blend1 filter=lfs diff=lfs merge=lfs -text
+objects/rock/Rock1.blend2 filter=lfs diff=lfs merge=lfs -text
+objects/scissors/scissors.blend filter=lfs diff=lfs merge=lfs -text
+objects/watering_can/Watering[[:space:]]Can[[:space:]]Autodesk[[:space:]]FBX.fbx filter=lfs diff=lfs merge=lfs -text
+objects/watering_can/Watering[[:space:]]Can[[:space:]]Maya[[:space:]]2011.mb filter=lfs diff=lfs merge=lfs -text

objects/apple/base.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 25.04.2011 13:31:29
+
+newmtl apple
+	Ns 28.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5880 0.5880 0.5880
+	Kd 0.5880 0.5880 0.5880
+	Ks 0.7782 0.7557 0.6238
+	Ke 0.0000 0.0000 0.0000
+	map_Ka texture.jpg
+	map_Kd texture.jpg

objects/apple/model_data.json

@@ -0,0 +1,252 @@
+{
+    "center": [
+        -0.017426331870234308,
+        -0.0030959128818834965,
+        0.8134055151375713
+    ],
+    "extents": [
+        3.197823032664527,
+        3.267621677418748,
+        2.6486152199825512
+    ],
+    "scale": [
+        0.03,
+        0.03,
+        0.03
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                6.123233995736766e-17,
+                6.123233995736766e-17,
+                -1.0,
+                0.0
+            ],
+            [
+                -1.0,
+                3.749399456654644e-33,
+                -6.123233995736766e-17,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                -6.123233995736766e-17,
+                1.0,
+                0.0
+            ],
+            [
+                1.0,
+                3.749399456654644e-33,
+                -6.123233995736766e-17,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                -7.498798913309288e-33,
+                1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                1.2246467991473532e-16,
+                -6.123233995736766e-17,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            -0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "functional_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "orientation_point": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            1.633810838709374
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grasping the side of the apple.",
+        "Grasping the side of the apple.",
+        "Grasping the side of the apple.",
+        "Grasping the side of the apple."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/apple/models.py

@@ -0,0 +1,135 @@
+import trimesh
+import json
+import numpy as np
+
+
+PI = np.pi
+
+def create_model_data(id):
+    file_path = f"./textured{id}.obj"
+    save_path = f"./model_data{id}.json"
+
+    # with open(save_path, 'r') as json_file:
+    #     data = json.load(json_file)
+        
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='obj')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+    red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
+
+    scale = [0.03,0.03,0.03]
+
+    shape = oriented_bounding_box.extents.tolist()
+    
+    print(shape)
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.2)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+    target_points_list = [target_trans_matrix_sphere.tolist()]
+
+    # # 可视化网格和坐标轴
+    scene.add_geometry(target_sphere)
+
+    contact_points_list = []
+    contact_point_discription_list = []
+    orientation_point_list = []
+    functional_matrix = []
+
+    def add_contact_point(point_radius, pose:list, euler:list, discription: str):
+        contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
+        contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
+        contact_sphere.apply_transform(contact_trans_matrix_sphere)
+        contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+        contact_points_list.append(contact_trans_matrix_sphere.tolist())
+
+        axis = trimesh.creation.axis(axis_length=2)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+
+    alpha = 0.95
+    delta = 0.05
+    
+    add_contact_point(0.1, [0, 0.0, 0.8], [PI / 2, 0, -PI / 2], "Grasping the side of the apple.")
+
+    add_contact_point(0.1, [0, 0.0, 0.8], [PI / 2, 0, 0], "Grasping the side of the apple.")
+    add_contact_point(0.1, [0, 0.0, 0.8], [PI / 2, 0, PI / 2], "Grasping the side of the apple.")
+    add_contact_point(0.1, [0, 0.0, 0.8], [PI / 2, 0, PI], "Grasping the side of the apple.")
+
+    # add_contact_point(10, [0, shape[1]/2 - delta, shape[2]/2 * alpha], [0, PI, 0], "Grasping the side of the apple.")
+    # add_contact_point(10, [0, 80, 80], [0, 0, PI / 12], "Grasping the side of the apple.")
+    # add_contact_point(10, [0, 80, 80], [0, PI, PI], "Grasping the side of the apple.")
+
+    # add_contact_point(10, [0, -80, 80], [0, 0, PI / 12], "Grasping the side of the apple.")
+    # add_contact_point(10, [0, -80, 80], [0, PI, PI], "Grasping the side of the apple.")
+
+    # add_contact_point(10, [0, shape[1]/2 - delta, -shape[2]/2 * alpha], [0, 0, 0], "Grasping the side of the apple.")
+    # add_contact_point(10, [0, shape[1]/2 - delta, -shape[2]/2 * alpha], [0, PI, 0], "Grasping the side of the apple.")
+
+
+    # add_contact_point(1, [0, 0, 1], [0, 0, 0], "Grasping the side of the apple.")
+    # add_contact_point(0.1, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.1, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.1, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
+
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    orientation_point.apply_transform(orientation_point_sphere)
+    orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(0,0,0)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=1.5)
+    axis.apply_transform(functional_trans_matrix_sphere)
+    scene.add_geometry(axis)
+    scene.add_geometry(functional_sphere)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale,                                     # 缩放
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": functional_matrix,         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/apple/normalize.py

@@ -0,0 +1,41 @@
+def normalize_obj_custom(old_file, new_file):
+    vertices = []
+    other_lines = []
+
+    # Step 1: Read the OBJ file and extract vertices
+    with open(old_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            else:
+                other_lines.append(line)  # Non-vertex lines
+
+    # Step 2: Find the min and max for each axis
+    min_x = min(vertex[0] for vertex in vertices)
+    max_x = max(vertex[0] for vertex in vertices)
+    min_y = min(vertex[1] for vertex in vertices)
+    max_y = max(vertex[1] for vertex in vertices)
+    min_z = min(vertex[2] for vertex in vertices)
+    max_z = max(vertex[2] for vertex in vertices)
+
+    # Step 3: Normalize x, y to [-1, 1] and z to [0, 2]
+    normalized_vertices = [
+        [
+            2 * ((vertex[0] - min_x) / (max_x - min_x)) - 1,  # x to [-1, 1]
+            2 * ((vertex[1] - min_y) / (max_y - min_y)) - 1,  # y to [-1, 1]
+            2 * ((vertex[2] - min_z) / (max_z - min_z))       # z to [0, 2]
+        ]
+        for vertex in vertices
+    ]
+
+    # Step 4: Write to the new OBJ file
+    with open(new_file, 'w') as file:
+        # Write normalized vertices
+        for vertex in normalized_vertices:
+            file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+        # Write other lines (e.g., faces, normals, etc.)
+        file.writelines(other_lines)
+
+# Example usage:
+normalize_obj_custom('textured.obj', 'new.obj')

objects/banana/10164_Banana_v01_it2.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 21.04.2011 09:40:01
+
+newmtl Banana
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5880 0.5880 0.5880
+	Kd 0.5880 0.5880 0.5880
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka Bannana_v01.jpg
+	map_Kd Bannana_v01.jpg

objects/banana/Banana_v01_L3.123c02dda9fc-71ec-4599-b568-288bb4a85510.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e364e1d5513443b31b889f57597851d64ee71a07d41447f62737c03bf65a341
+size 585770

objects/banana/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/bath_towel/10265_Bath_Towel_L3.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 27.04.2011 18:33:34
+
+newmtl 10265_Bath_Towel
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5882 0.5882 0.5882
+	Kd 0.5882 0.5882 0.5882
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka 10265_Bath_Towel_diffuse_v1.jpg
+	map_Kd 10265_Bath_Towel_diffuse_v1.jpg

objects/bath_towel/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/bottle/BOTTLE HIGH POLY.fbx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:853380f2dcf7dcc6e1f2a40432a6359635a9bf82b9146d730953084e53356074
+size 519680

objects/bottle/BOTTLE MID POLY.fbx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ebf63e1d0e7ab1fd4c724a98a8b4816245ae77706d32104d07d34b6901f28ee
+size 109296

objects/bottle/BOTTLE.3dm

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879f12e739e730f2444a11078f675d7266301221bdc5eeb6030ba4c78386b91d
+size 776769

objects/bottle/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/bowl/10315_soup_plate_v2_max2011_iteration-2.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 19.04.2011 09:52:41
+
+newmtl 10315_soup_plate
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5880 0.5880 0.5880
+	Kd 0.5880 0.5880 0.5880
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka 10315_soup_plate_v1_Diffuse.jpg
+	map_Kd 10315_soup_plate_v1_Diffuse.jpg

objects/bowl/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/bread/Bread.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.001
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.640000 0.640000 0.640000
+Ks 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 1
+map_Kd Bread.png
+map_Bump Bread.png

objects/bread/new.obj

@@ -0,0 +1,835 @@
+# Blender v2.75 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib Bread.mtl
+o DrawCall_85
+v -0.4225239320092281 -0.03439115907825307 1.7785288112221898
+v -0.4168452175757737 -0.16647861366709982 1.798534910238392
+v -0.3306223648272388 -0.08207220704834133 2.006479541778261
+v -0.3155988968735913 -0.21633541937365758 2.002737927925539
+v -0.3545596775476651 -0.2663606109623187 1.8027737264988994
+v -0.29372729442337786 -0.2778506271379704 1.9596337938532522
+v -0.398157036408475 -0.22586712099917794 1.3991965209090185
+v -0.4770676990798441 -0.10225199543899659 1.3843069661372014
+v -0.5 0.03403980271008461 1.4828365728832436
+v -0.13129325660947738 -0.35436145952109466 2.0414454668399142
+v -0.29372729442337786 -0.2778506271379704 1.9596337938532522
+v -0.12618731934979185 -0.37109795550369923 1.8450677521147674
+v -0.3545596775476651 -0.2663606109623187 1.8027737264988994
+v -0.398157036408475 -0.22586712099917794 1.3991965209090185
+v -0.08929224894593092 -0.37475603935191326 1.4534896979661107
+v 0.12425552226140911 -0.356908461722044 1.8774349659250618
+v 0.0794794622258757 -0.3481351595025325 2.039301530057543
+v 0.21423457346662775 -0.3433341730529554 1.4977672297207714
+v 0.12425552226140911 -0.356908461722044 1.8774349659250618
+v 0.25817533345708144 -0.22765174617485615 1.8964559412373048
+v 0.0794794622258757 -0.3481351595025325 2.039301530057543
+v 0.1573320781734772 -0.27765837554029327 2.071784094826443
+v 0.29804831481530586 -0.06029871920659755 1.9076953673994326
+v 0.1901434594680597 -0.11138063164593887 2.067565166662247
+v 0.3934952666330779 -0.01742263530534857 1.6777902999124923
+v 0.38876852907639675 -0.1973913447004853 1.5225451459786268
+v 0.21423457346662775 -0.3433341730529554 1.4977672297207714
+v 0.2335034870462199 0.08038039298878308 1.909182997003527
+v 0.13918617909893663 0.015671156956856065 2.0416483254222904
+v 0.32403144970963377 0.1442317891331442 1.6760123041022514
+v 0.06404497361512553 0.13990281350269151 1.9359497228925246
+v 0.019726339794754813 0.05317612898093393 2.03922065179921
+v -0.48661928880167593 0.055743019278194667 1.2391198854445653
+v -0.35668372623372496 -0.2186755853729681 1.048766938028692
+v -0.44930259075601287 -0.08856765930365147 1.0352523136485376
+v -0.4755204051868156 0.08072511999151442 1.0064954522553102
+v -0.35668372623372496 -0.2186755853729681 1.048766938028692
+v -0.04016069581819631 -0.37147582933361617 1.0964241202832066
+v 0.2689334676884728 -0.33841916151785956 1.147007504441675
+v 0.4517355678714433 0.0021353186073029286 1.4609742515446422
+v 0.5 -0.019115775237994254 1.2224085810506218
+v 0.44207393068335493 -0.18767402084272497 1.1779202354750604
+v 0.2689334676884728 -0.33841916151785956 1.147007504441675
+v 0.4050263848744398 0.1004832807403675 1.4803094587786056
+v -0.42979767176685846 0.031112274933043374 0.6576264219988863
+v -0.3994921906075151 -0.11641497175890325 0.678931876640768
+v -0.3049627429662433 -0.23734255257086795 0.6996009122006842
+v -0.04328445281217685 -0.36979727400493223 0.744526795895097
+v -0.3049627429662433 -0.23734255257086795 0.6996009122006842
+v 0.24405743682214737 -0.3427096868287767 0.7854604757232639
+v 0.24405743682214737 -0.3427096868287767 0.7854604757232639
+v 0.4070258014902813 -0.20935204582217393 0.8056336347484819
+v 0.47139428813873935 -0.04833138871947177 0.9782424226353055
+v 0.4451287422767893 -0.0570079022036011 0.7176699106361539
+v -0.33261382620455576 -0.02126236376654028 0.25224470313701586
+v -0.3110219829757896 -0.16106639972421843 0.2668293070987245
+v -0.23964360531409937 -0.2647828219882793 0.33190315822969424
+v -0.20367929781761293 -0.22999854153960383 0.11866298957863763
+v -0.2235050780939249 -0.05971798679430406 0.053782715918432346
+v -0.04400440189865029 -0.36417689798732467 0.4122006841505131
+v -0.23964360531409937 -0.2647828219882793 0.33190315822969424
+v -0.20367929781761293 -0.22999854153960383 0.11866298957863763
+v -0.02194982896237176 -0.2935781337010422 0.09605287581872661
+v 0.20023070191721246 -0.34884317573121904 0.41529129431730805
+v 0.22027525125295003 -0.27632852483360293 0.13566333430564037
+v 0.20023070191721246 -0.34884317573121904 0.41529129431730805
+v 0.33905226591710635 -0.23832237278247725 0.3684919519503594
+v 0.38384953992203863 -0.09364575322850098 0.41129511283179976
+v 0.32432579353504276 -0.10327159184322876 0.14817692450478642
+v 0.22027525125295003 -0.27632852483360293 0.13566333430564037
+v -0.2841518389859723 0.28025708679165223 0.6090358250908224
+v 0.05867916523030412 0.32872570337567286 0.5829771154305111
+v -0.2080705894831747 0.23193961973959848 0.34065126886054464
+v 0.06315133515419902 0.25869176102463465 0.3346331309167087
+v 0.07817082548858419 0.13418299700352682 0.1572366153111824
+v -0.17383124287343218 0.135469093898332 0.16965209090185893
+v -0.29699424571080063 0.12717840948264428 0.30082734480655515
+v -0.3844952401156162 0.1789935297393333 0.6307165018164462
+v 0.19349394075999043 -0.12182851157487207 0.04297419850971865
+v 0.20973986370024658 0.10986118108774624 0.19167351701095175
+v 0.30001193285778677 0.08764750338097635 0.24647317758744136
+v 0.056533902574845495 -0.11093116066930074 0.0
+v -0.02194982896237176 -0.2935781337010422 0.09605287581872661
+v 0.025269815173291577 -0.10732478587149638 2.101657341359285
+v -0.26429423775556204 0.008080533531330385 2.0121370422423164
+v -0.21945188406565727 0.07104492058020206 1.9869984885046803
+v -0.028364402959348767 -0.27657778897403945 2.1059876428628255
+v -0.13129325660947738 -0.35436145952109466 2.0414454668399142
+v -0.4055965103020339 0.19938943544323937 0.8503327941449446
+v -0.2930762907374506 0.29120084325528367 0.7571557370528492
+v -0.44020444963008143 0.18955676062687277 1.3256052610644111
+v -0.43111028612341235 0.20912001803187397 1.1822372782477262
+v -0.41761687571265677 0.21309233380180848 1.0351091193550954
+v -0.3012688605446687 0.31539139773540875 0.9935721672721488
+v -0.30875871761554985 0.31981981384741853 1.114436106175917
+v -0.3167497547134789 0.3030674073877648 1.2355930630320067
+v 0.094248362546737 0.3747560393519132 0.9830407573387075
+v 0.10358383495531805 0.36448317467052055 1.0832197502055103
+v 0.08179045901726284 0.3629995226856885 0.8852589430139748
+v 0.3516560154861976 0.21066731192490248 0.7187942510142931
+v 0.3698854445652462 0.20903118453501632 0.8203110498263106
+v 0.32890535917901936 0.1984321550741163 0.6220505953170163
+v 0.4208254885842327 0.07980098644957705 0.7163824878682613
+v 0.3923536899048023 0.07284810797910421 0.5576768051762085
+v 0.3573082124579035 0.060616928747580276 0.417106414573997
+v -0.3272506695659092 0.06312548062899419 1.883992734215481
+v -0.38315345655113897 0.11000702712736334 1.7228050171037628
+v -0.4297698284320225 0.14707048341332768 1.5397814961151919
+v -0.32107475272466923 0.25556667815756673 1.508960250324839
+v -0.28860942430590547 0.2264160324573732 1.653261647795073
+v -0.25129405213332984 0.17734944711092254 1.791791519715733
+v 0.06624194532099384 0.3314861711436981 1.4981185860889397
+v 0.07764710561905011 0.29498488504680326 1.6014067513457613
+v 0.38734586725358644 0.2311467476333165 1.2297075123969134
+v 0.3933746121821219 0.2188943544323937 1.3200564821935246
+v 0.05136962689931316 0.3465162684627828 1.400049057304235
+v 0.3730861021982976 0.23021465885285455 1.1420752565564425
+v 0.4715441117976187 0.11047903794648775 1.2171276285433958
+v 0.4609914878947787 0.11001233061971305 1.0857468643101482
+v 0.43939964466601256 0.1024986078332582 0.9625069608337091
+v -0.40618122033358967 0.201166105380393 0.9770637214605818
+v -0.37738856036700175 0.20379265996658796 0.8972408581050622
+v -0.4405332661557636 0.14055912068096843 0.9691058311898386
+v -0.2984447508684469 0.28949709633793846 0.946930603802604
+v -0.28076290737450615 0.2624506112274933 0.8305083397417199
+v 0.07244040200472007 0.33580056217018905 0.8472103630240514
+v 0.07471957784200893 0.2855420169181406 0.6957996340590278
+v 0.31438704887168195 0.18019609662963063 0.5935456498104003
+v 0.29682983744795943 0.14303187398902178 0.4350255893505875
+v 0.33317599639362516 0.06405624353636867 0.4022579618678901
+v 0.31463100951976875 0.003980933945002736 0.2787170852006046
+v -0.431623399008247 0.15097252790962848 1.4732001272838167
+v -0.4227029248760309 0.17563641908196545 1.385213863329002
+v -0.47236084961947444 0.0971102596059505 1.4520988570973987
+v -0.3222627350110048 0.24685834371933918 1.4569701148206093
+v -0.3165336374002281 0.26198522977380606 1.313492084537668
+v 0.04451884065657232 0.33418564874970175 1.3645938850733208
+v 0.09365304553048179 0.31735899339715207 1.1716740473601868
+v 0.35472938930285586 0.21806833549892604 1.0985282808729548
+v 0.3564251809816764 0.20210880114555432 0.917456445069078
+v 0.41413513298507065 0.10930033677176416 0.9333165389408926
+v 0.4015181246851051 0.10492230383707671 0.8248070854657793
+v 0.4262774787197369 0.023581315796451976 0.7925340086446925
+v 0.07558139534883718 0.21738418498581313 1.6702991169685237
+v -0.22548725835962985 0.10242170719418738 1.8686709448171621
+v 0.053318660337832426 0.16497109596669407 1.7952454191084832
+v 0.36195009413698914 0.17521479144016336 1.3880949855479834
+v 0.4050263848744398 0.1004832807403675 1.4803094587786056
+v 0.32403144970963377 0.1442317891331442 1.6760123041022514
+v 0.44040465646628296 0.05121383681154041 1.3375248601203893
+v -0.2984447508684469 0.28949709633793846 0.946930603802604
+v 0.07244040200472007 0.33580056217018905 0.8472103630240514
+v -0.40618122033358967 0.201166105380393 0.9770637214605818
+v -0.4405332661557636 0.14055912068096843 0.9691058311898386
+v -0.37738856036700175 0.20379265996658796 0.8972408581050622
+v -0.28076290737450615 0.2624506112274933 0.8305083397417199
+v 0.07471957784200893 0.2855420169181406 0.6957996340590278
+v 0.29682983744795943 0.14303187398902178 0.4350255893505875
+v 0.31463100951976875 0.003980933945002736 0.2787170852006046
+v 0.33317599639362516 0.06405624353636867 0.4022579618678901
+v 0.31438704887168195 0.18019609662963063 0.5935456498104003
+v -0.3222627350110048 0.24685834371933918 1.4569701148206093
+v -0.431623399008247 0.15097252790962848 1.4732001272838167
+v -0.47236084961947444 0.0971102596059505 1.4520988570973987
+v -0.4227029248760309 0.17563641908196545 1.385213863329002
+v -0.3165336374002281 0.26198522977380606 1.313492084537668
+v 0.09365304553048179 0.31735899339715207 1.1716740473601868
+v 0.3564251809816764 0.20210880114555432 0.917456445069078
+v 0.4015181246851051 0.10492230383707671 0.8248070854657793
+v 0.4262774787197369 0.023581315796451976 0.7925340086446925
+v 0.41413513298507065 0.10930033677176416 0.9333165389408926
+v 0.35472938930285586 0.21806833549892604 1.0985282808729548
+v 0.04451884065657232 0.33418564874970175 1.3645938850733208
+v -0.2766619819150911 0.03823884277796928 1.9161531118241362
+v -0.22548725835962985 0.10242170719418738 1.8686709448171621
+v -0.22548725835962985 0.10242170719418738 1.8686709448171621
+v 0.07558139534883718 0.21738418498581313 1.6702991169685237
+v 0.36195009413698914 0.17521479144016336 1.3880949855479834
+v 0.44040465646628296 0.05121383681154041 1.3375248601203893
+v 0.053318660337832426 0.16497109596669407 1.7952454191084832
+vt 0.946368 0.715229
+vt 0.942766 0.722451
+vt 0.888081 0.797514
+vt 0.490713 0.103871
+vt 0.481116 0.102520
+vt 0.426045 0.177583
+vt 0.465827 0.176053
+vt 0.504683 0.119430
+vt 0.437982 0.321736
+vt 0.387580 0.327111
+vt 0.422418 0.184805
+vt 0.372933 0.291544
+vt 0.203883 0.530088
+vt 0.252430 0.508862
+vt 0.202357 0.479139
+vt 0.270612 0.468165
+vt 0.283642 0.363458
+vt 0.191330 0.377545
+vt 0.127506 0.487536
+vt 0.140889 0.529532
+vt 0.100614 0.389032
+vt 0.087481 0.492471
+vt 0.494035 0.779211
+vt 0.518106 0.772153
+vt 0.462855 0.741115
+vt 0.857190 0.142236
+vt 0.882657 0.138179
+vt 0.792780 0.078947
+vt 0.813737 0.080470
+vt 0.943621 0.221170
+vt 0.940601 0.277210
+vt 0.048451 0.395461
+vt 0.489357 0.761855
+vt 0.530293 0.762392
+vt 0.557794 0.819564
+vt 0.590112 0.810209
+vt 0.472878 0.678222
+vt 0.428821 0.678864
+vt 0.637769 0.772054
+vt 0.665878 0.809332
+vt 0.381480 0.379520
+vt 0.464471 0.448234
+vt 0.405315 0.453112
+vt 0.388568 0.463492
+vt 0.271246 0.272540
+vt 0.176646 0.284905
+vt 0.084266 0.298029
+vt 0.980819 0.299435
+vt 1.011647 0.385552
+vt 0.974649 0.401612
+vt 0.032519 0.306049
+vt 0.421508 0.607578
+vt 0.391883 0.600598
+vt 0.417772 0.589427
+vt 0.437129 0.581736
+vt 0.497506 0.574275
+vt 0.177580 0.193606
+vt 0.255788 0.181951
+vt 0.091701 0.204226
+vt 0.042994 0.209460
+vt 0.952262 0.535999
+vt 0.993376 0.473691
+vt 0.976599 0.567752
+vt 0.479845 0.735761
+vt 0.493636 0.730496
+vt 0.539226 0.707006
+vt 0.562197 0.783981
+vt 0.549534 0.807401
+vt 0.177795 0.107385
+vt 0.236267 0.086552
+vt 0.225518 0.031228
+vt 0.171203 0.025361
+vt 0.104800 0.108187
+vt 0.098809 0.035639
+vt 0.063309 0.096045
+vt 0.908847 0.693798
+vt 0.937460 0.678347
+vt 0.899441 0.773327
+vt 0.832982 0.777844
+vt 0.858608 0.293067
+vt 0.641173 0.283661
+vt 0.810354 0.196186
+vt 0.638336 0.194014
+vt 0.628811 0.129977
+vt 0.788639 0.134459
+vt 0.866753 0.181811
+vt 0.922249 0.300894
+vt 0.889344 0.164273
+vt 0.950981 0.310607
+vt 0.820143 0.092633
+vt 0.555669 0.088731
+vt 0.545364 0.142409
+vt 0.472690 0.126707
+vt 0.488111 0.162190
+vt 0.642533 0.073218
+vt 0.815877 0.811303
+vt 0.728399 0.826816
+vt 0.678270 0.792143
+vt 0.662362 0.831871
+vt 0.846013 0.799556
+vt 0.817573 0.790482
+vt 0.674173 0.066600
+vt 0.583797 0.769431
+vt 0.580055 0.831768
+vt 0.618748 0.782795
+vt 0.696378 0.833434
+vt 0.532260 0.805630
+vt 0.708430 0.068163
+vt 0.551450 0.786642
+vt 0.935632 0.380170
+vt 0.979980 0.436541
+vt 0.864268 0.346535
+vt 0.957581 0.551733
+vt 0.951813 0.499981
+vt 0.995506 0.608490
+vt 0.987019 0.520514
+vt 0.943256 0.446870
+vt 0.869464 0.431876
+vt 0.874214 0.475506
+vt 0.879282 0.519241
+vt 0.618614 0.428075
+vt 0.612692 0.464237
+vt 0.626515 0.392778
+vt 0.455357 0.332688
+vt 0.443795 0.369333
+vt 0.469786 0.297765
+vt 0.411487 0.331817
+vt 0.429545 0.274528
+vt 0.451772 0.223785
+vt 0.434938 0.221687
+vt 0.396074 0.332282
+vt 0.885943 0.753299
+vt 0.921398 0.695114
+vt 0.950963 0.629046
+vt 0.882026 0.617920
+vt 0.861434 0.670010
+vt 0.837768 0.720016
+vt 0.636376 0.614007
+vt 0.629142 0.651292
+vt 0.432721 0.517116
+vt 0.428897 0.549730
+vt 0.645809 0.578606
+vt 0.441765 0.485483
+vt 0.379319 0.512575
+vt 0.386013 0.465149
+vt 0.399706 0.420662
+vt 0.379415 0.426343
+vt 0.361272 0.514481
+vt 0.309650 0.641218
+vt 0.273232 0.653782
+vt 0.306020 0.626919
+vt 0.295902 0.686432
+vt 0.242787 0.694598
+vt 0.250404 0.842055
+vt 0.181326 0.844021
+vt 0.134673 0.944838
+vt 0.062352 0.938563
+vt 0.047403 0.953967
+vt -0.008961 0.947046
+vt 0.302681 0.596385
+vt 0.262920 0.603245
+vt 0.291785 0.580180
+vt 0.298766 0.642495
+vt 0.233648 0.650009
+vt 0.268366 0.798496
+vt 0.182123 0.825849
+vt 0.157120 0.937155
+vt 0.074764 0.944334
+vt 0.083814 0.967793
+vt 0.034029 0.966419
+vt 0.020126 0.977881
+vt 0.186303 0.771795
+vt 0.253266 0.633223
+vt 0.240897 0.753328
+vt 0.080513 0.910573
+vt 0.125219 0.921409
+vt 0.207307 0.873520
+vt 0.063569 0.946600
+vt 0.867673 0.415040
+vt 0.632445 0.379043
+vt 0.936003 0.425917
+vt 0.957790 0.423044
+vt 0.917741 0.397103
+vt 0.856458 0.373014
+vt 0.630999 0.324387
+vt 0.490129 0.230253
+vt 0.478839 0.173829
+vt 0.467078 0.218425
+vt 0.478994 0.287476
+vt 0.882779 0.599153
+vt 0.952139 0.605011
+vt 0.977976 0.597395
+vt 0.946481 0.573251
+vt 0.879145 0.547361
+vt 0.618991 0.496167
+vt 0.452332 0.404400
+vt 0.423733 0.370956
+vt 0.408029 0.359306
+vt 0.415731 0.410125
+vt 0.453408 0.469763
+vt 0.650154 0.565807
+vt 0.853858 0.764908
+vt 0.821401 0.747768
+vt 0.630453 0.676160
+vt 0.448828 0.574291
+vt 0.399069 0.556036
+vt 0.644572 0.721263
+vn -0.933700 0.170600 0.314900
+vn -0.936100 -0.269900 0.225700
+vn -0.662000 0.173300 0.729200
+vn -0.654700 -0.334000 0.678100
+vn -0.838500 -0.514100 0.180300
+vn -0.651300 -0.533000 0.540100
+vn -0.841400 -0.539700 -0.028300
+vn -0.936900 -0.349300 -0.014100
+vn -0.984300 0.104600 0.141900
+vn -0.181700 -0.980600 0.073900
+vn -0.439000 -0.894400 0.085900
+vn -0.195400 -0.980200 0.031900
+vn -0.417700 -0.908500 0.005700
+vn -0.422900 -0.904500 -0.055000
+vn -0.172000 -0.984900 -0.020300
+vn 0.049400 -0.998500 0.022500
+vn 0.030100 -0.997600 0.062400
+vn 0.094300 -0.995500 0.003000
+vn 0.658900 -0.727500 0.191100
+vn 0.818300 -0.489000 0.302200
+vn 0.365900 -0.712400 0.598900
+vn 0.557700 -0.448400 0.698500
+vn 0.877200 0.073400 0.474500
+vn 0.574200 0.092900 0.813400
+vn 0.940900 0.069700 0.331300
+vn 0.830000 -0.528100 0.179400
+vn 0.632000 -0.768200 0.101900
+vn 0.596800 0.616900 0.513100
+vn 0.361600 0.494200 0.790600
+vn 0.764400 0.535700 0.358700
+vn 0.072200 0.895800 0.438500
+vn -0.039100 0.594100 0.803400
+vn -0.993200 0.103600 -0.053100
+vn -0.810400 -0.578900 -0.090600
+vn -0.921500 -0.377100 -0.092500
+vn -0.985700 0.143700 -0.087500
+vn -0.433100 -0.900600 -0.038100
+vn -0.157800 -0.987300 -0.016200
+vn 0.104900 -0.994500 0.004200
+vn 0.971700 0.114700 0.206500
+vn 0.997400 -0.022500 0.068100
+vn 0.835600 -0.548800 0.026300
+vn 0.649200 -0.760000 0.029900
+vn 0.897200 0.382800 0.220400
+vn -0.983700 0.018800 -0.178600
+vn -0.898600 -0.423900 -0.113400
+vn -0.782700 -0.617300 -0.079900
+vn -0.186200 -0.982500 -0.008200
+vn -0.449100 -0.893300 -0.016300
+vn 0.096900 -0.995300 0.001800
+vn 0.632300 -0.773500 -0.043500
+vn 0.830800 -0.551600 -0.074100
+vn 0.991900 -0.086100 -0.092900
+vn 0.989300 -0.047400 -0.137700
+vn -0.917100 0.072000 -0.392200
+vn -0.869400 -0.393100 -0.299400
+vn -0.767100 -0.624400 -0.147400
+vn -0.596800 -0.405800 -0.692200
+vn -0.544500 0.092000 -0.833700
+vn -0.180800 -0.977300 -0.110600
+vn -0.408000 -0.904300 -0.125400
+vn -0.356600 -0.907800 -0.221000
+vn -0.122400 -0.966800 -0.224400
+vn 0.070700 -0.989600 -0.125400
+vn 0.087300 -0.970500 -0.224800
+vn 0.598700 -0.794600 -0.100700
+vn 0.814700 -0.553500 -0.173000
+vn 0.979200 -0.061800 -0.193000
+vn 0.828100 0.013800 -0.560400
+vn 0.570200 -0.544000 -0.615500
+vn -0.462000 0.866400 -0.189600
+vn 0.274400 0.961500 0.013700
+vn -0.363000 0.845100 -0.392600
+vn 0.220700 0.898600 -0.379400
+vn 0.131600 0.689000 -0.712700
+vn -0.299100 0.686600 -0.662600
+vn -0.756700 0.509800 -0.409400
+vn -0.850700 0.480800 -0.212400
+vn 0.436300 0.003600 -0.899800
+vn 0.428600 0.666300 -0.610200
+vn 0.772100 0.529700 -0.351100
+vn 0.074500 0.021700 -0.997000
+vn -0.067600 -0.441500 -0.894700
+vn -0.005300 0.175500 0.984500
+vn -0.469400 0.423600 0.774700
+vn -0.294300 0.703200 0.647300
+vn -0.080500 -0.280300 0.956500
+vn -0.371000 -0.251000 0.894100
+vn -0.734300 0.676600 0.054600
+vn -0.327100 0.935400 0.134500
+vn -0.752500 0.636000 0.170800
+vn -0.828000 0.560500 -0.016800
+vn -0.802000 0.583600 -0.127100
+vn -0.431700 0.869500 -0.240000
+vn -0.409000 0.912300 0.020200
+vn -0.318100 0.909000 0.269200
+vn 0.201500 0.979300 -0.017400
+vn 0.321300 0.905000 0.278800
+vn 0.051500 0.948100 -0.313700
+vn 0.667700 0.723900 -0.173500
+vn 0.772300 0.635100 0.017700
+vn 0.433600 0.805400 -0.404200
+vn 0.949200 0.304800 -0.078300
+vn 0.919100 0.329200 -0.216600
+vn 0.726700 0.566300 -0.388900
+vn -0.544300 0.592000 0.594400
+vn -0.752400 0.551500 0.360300
+vn -0.778100 0.588400 0.219800
+vn -0.463800 0.882000 0.083300
+vn -0.399500 0.855400 0.329800
+vn -0.216600 0.805100 0.552100
+vn 0.147900 0.962600 0.227000
+vn 0.300200 0.806800 0.508900
+vn 0.600800 0.799300 -0.012900
+vn 0.687800 0.662600 0.296600
+vn 0.027800 0.997800 -0.061000
+vn 0.473000 0.853700 -0.217900
+vn 0.920500 0.381000 0.086300
+vn 0.905200 0.407300 -0.121000
+vn 0.779000 0.567200 -0.267400
+vn -0.761800 0.595400 -0.255200
+vn -0.686200 0.684800 -0.245200
+vn -0.819200 0.501000 -0.279000
+vn -0.461700 0.847200 -0.262700
+vn -0.325300 0.909000 -0.260600
+vn -0.070000 0.947900 -0.310900
+vn 0.097000 0.946500 -0.307800
+vn 0.409400 0.877200 -0.251000
+vn 0.748000 0.612200 -0.256200
+vn 0.798700 0.504000 -0.328800
+vn 0.779000 0.509900 -0.364900
+vn -0.741100 0.662300 0.110500
+vn -0.671100 0.734200 0.102800
+vn -0.809900 0.580900 0.080700
+vn -0.436700 0.897000 0.068200
+vn -0.278900 0.956100 0.089700
+vn -0.118100 0.985400 -0.122900
+vn 0.253200 0.967400 -0.003300
+vn 0.417300 0.905100 -0.081700
+vn 0.794600 0.605900 -0.039000
+vn 0.819400 0.561000 -0.117900
+vn 0.911800 0.396200 -0.107700
+vn 0.935000 0.333100 -0.122200
+vn 0.368400 0.833000 0.412900
+vn -0.110300 0.923400 0.367700
+vn 0.062400 0.939000 0.338100
+vn 0.687800 0.686800 0.235300
+vn 0.599300 0.775100 0.200100
+vn -0.026000 0.973200 -0.228300
+vn 0.850000 0.525900 0.029100
+vn -0.446500 0.769700 -0.456400
+vn -0.137000 0.822200 -0.552500
+vn -0.756100 0.589600 -0.283900
+vn -0.862300 0.252800 -0.438700
+vn -0.543800 0.811600 0.213300
+vn -0.205400 0.909400 0.361600
+vn 0.319300 0.899200 0.299300
+vn 0.627700 0.760100 -0.168000
+vn 0.917400 0.340700 -0.205800
+vn 0.429200 0.763300 -0.482900
+vn 0.037100 0.837200 -0.545700
+vn -0.473000 0.870100 -0.138500
+vn -0.754600 0.654800 0.042800
+vn -0.921400 0.329200 -0.206400
+vn -0.634500 0.699900 0.328000
+vn -0.275500 0.855600 0.438200
+vn 0.268800 0.837500 0.475700
+vn 0.723200 0.669400 0.169800
+vn 0.952700 0.281100 0.115800
+vn 0.961700 0.273300 -0.019600
+vn 0.628700 0.688100 -0.362400
+vn 0.335200 0.864500 -0.374700
+vn -0.084100 0.946500 -0.311600
+vn -0.452900 0.697800 0.554900
+vn -0.332600 0.907200 0.257500
+vn -0.049000 0.702800 0.709700
+vn 0.356800 0.622400 0.696600
+vn 0.708500 0.399900 0.581500
+vn 0.887500 0.385800 0.251900
+vn 0.007400 0.983000 0.183200
+usemtl Material.001
+s 1
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 3/5/3 2/6/2
+f 2/6/2 5/7/5 4/4/4
+f 6/8/6 4/4/4 5/7/5
+f 5/7/5 2/6/2 7/9/7
+f 8/10/8 7/9/7 2/6/2
+f 2/6/2 1/11/1 8/10/8
+f 9/12/9 8/10/8 1/11/1
+f 10/13/10 11/14/11 12/15/12
+f 13/16/13 12/15/12 11/14/11
+f 13/16/13 14/17/14 12/15/12
+f 15/18/15 12/15/12 14/17/14
+f 12/15/12 16/19/16 10/13/10
+f 17/20/17 10/13/10 16/19/16
+f 16/19/16 12/15/12 18/21/18
+f 15/18/15 18/21/18 12/15/12
+f 19/19/19 20/22/20 21/20/21
+f 22/23/22 21/24/21 20/25/20
+f 20/26/20 23/27/23 22/28/22
+f 24/29/24 22/28/22 23/27/23
+f 23/27/23 20/26/20 25/30/25
+f 26/31/26 25/30/25 20/26/20
+f 20/22/20 19/19/19 26/32/26
+f 27/21/27 26/32/26 19/19/19
+f 23/33/23 28/34/28 24/35/24
+f 29/36/29 24/35/24 28/34/28
+f 28/34/28 23/33/23 30/37/30
+f 25/38/25 30/37/30 23/33/23
+f 28/34/28 31/39/31 29/36/29
+f 32/40/32 29/36/29 31/39/31
+f 28/34/28 30/37/30 31/39/31
+f 8/10/8 9/12/9 33/41/33
+f 7/9/7 8/10/8 34/42/34
+f 35/43/35 34/42/34 8/10/8
+f 8/10/8 33/41/33 35/43/35
+f 36/44/36 35/43/35 33/41/33
+f 14/17/14 37/45/37 15/18/15
+f 38/46/38 15/18/15 37/45/37
+f 18/21/18 15/18/15 39/47/39
+f 38/46/38 39/47/39 15/18/15
+f 25/30/25 26/31/26 40/48/40
+f 40/48/40 26/31/26 41/49/41
+f 42/50/42 41/49/41 26/31/26
+f 26/32/26 27/21/27 42/51/42
+f 43/47/43 42/51/42 27/21/27
+f 44/52/44 30/37/30 40/53/40
+f 25/38/25 40/53/40 30/37/30
+f 45/54/45 46/55/46 36/44/36
+f 35/43/35 36/44/36 46/55/46
+f 46/55/46 47/56/47 35/43/35
+f 34/42/34 35/43/35 47/56/47
+f 38/46/38 37/45/37 48/57/48
+f 49/58/49 48/57/48 37/45/37
+f 48/57/48 50/59/50 38/46/38
+f 39/47/39 38/46/38 50/59/50
+f 51/59/51 52/60/52 43/47/43
+f 42/51/42 43/47/43 52/60/52
+f 52/61/52 53/62/53 42/50/42
+f 41/49/41 42/50/42 53/62/53
+f 52/61/52 54/63/54 53/62/53
+f 55/64/55 56/65/56 45/54/45
+f 46/55/46 45/54/45 56/65/56
+f 56/65/56 57/66/57 46/55/46
+f 47/56/47 46/55/46 57/66/57
+f 56/65/56 58/67/58 57/66/57
+f 56/65/56 55/64/55 58/67/58
+f 59/68/59 58/67/58 55/64/55
+f 48/57/48 49/58/49 60/69/60
+f 61/70/61 60/69/60 49/58/49
+f 61/70/61 62/71/62 60/69/60
+f 63/72/63 60/69/60 62/71/62
+f 60/69/60 64/73/64 48/57/48
+f 50/59/50 48/57/48 64/73/64
+f 64/73/64 60/69/60 65/74/65
+f 63/72/63 65/74/65 60/69/60
+f 66/73/66 67/75/67 51/59/51
+f 52/60/52 51/59/51 67/75/67
+f 67/76/67 68/77/68 52/61/52
+f 54/63/54 52/61/52 68/77/68
+f 68/77/68 67/76/67 69/78/69
+f 70/79/70 69/78/69 67/76/67
+f 66/73/66 70/74/70 67/75/67
+f 71/80/71 72/81/72 73/82/73
+f 74/83/74 73/82/73 72/81/72
+f 74/83/74 75/84/75 73/82/73
+f 76/85/76 73/82/73 75/84/75
+f 73/82/73 77/86/77 71/80/71
+f 78/87/78 71/80/71 77/86/77
+f 77/86/77 55/88/55 78/87/78
+f 45/89/45 78/87/78 55/88/55
+f 55/88/55 77/86/77 59/90/59
+f 76/85/76 59/90/59 77/86/77
+f 73/82/73 76/85/76 77/86/77
+f 79/91/79 80/92/80 69/93/69
+f 81/94/81 69/93/69 80/92/80
+f 80/92/80 79/91/79 75/84/75
+f 82/95/82 75/84/75 79/91/79
+f 59/90/59 76/85/76 82/95/82
+f 75/84/75 82/95/82 76/85/76
+f 69/78/69 70/79/70 79/96/79
+f 79/96/79 70/79/70 82/97/82
+f 83/98/83 82/97/82 70/79/70
+f 59/68/59 82/97/82 58/67/58
+f 83/98/83 58/67/58 82/97/82
+f 84/99/84 29/36/29 32/40/32
+f 32/40/32 31/39/31 85/100/85
+f 86/101/86 85/100/85 31/39/31
+f 84/99/84 32/40/32 3/3/3
+f 85/100/85 3/3/3 32/40/32
+f 4/4/4 6/8/6 87/102/87
+f 88/103/88 87/104/87 6/105/6
+f 84/99/84 3/3/3 87/106/87
+f 4/4/4 87/102/87 3/5/3
+f 87/104/87 88/103/88 21/107/21
+f 84/108/84 87/102/87 24/29/24
+f 22/28/22 24/29/24 87/102/87
+f 21/24/21 22/23/22 87/109/87
+f 89/110/89 78/87/78 36/111/36
+f 45/89/45 36/111/36 78/87/78
+f 78/87/78 89/110/89 71/80/71
+f 90/112/90 71/80/71 89/110/89
+f 72/81/72 71/80/71 90/112/90
+f 74/83/74 72/81/72 80/92/80
+f 81/94/81 80/92/80 72/81/72
+f 75/84/75 74/83/74 80/92/80
+f 91/113/91 92/114/92 9/115/9
+f 33/116/33 9/115/9 92/114/92
+f 92/114/92 93/117/93 33/116/33
+f 36/111/36 33/116/33 93/117/93
+f 93/117/93 92/114/92 94/118/94
+f 95/119/95 94/118/94 92/114/92
+f 92/114/92 91/113/91 95/119/95
+f 96/120/96 95/119/95 91/113/91
+f 95/119/95 96/120/96 97/121/97
+f 98/122/98 97/121/97 96/120/96
+f 94/118/94 95/119/95 99/123/99
+f 97/121/97 99/123/99 95/119/95
+f 97/121/97 98/122/98 100/124/100
+f 101/125/101 100/124/100 98/122/98
+f 99/123/99 97/121/97 102/126/102
+f 100/124/100 102/126/102 97/121/97
+f 103/127/103 104/128/104 101/125/101
+f 100/124/100 101/125/101 104/128/104
+f 104/128/104 105/129/105 100/124/100
+f 102/126/102 100/124/100 105/129/105
+f 105/129/105 104/128/104 69/93/69
+f 68/130/68 69/93/69 104/128/104
+f 104/128/104 103/127/103 68/130/68
+f 54/131/54 68/130/68 103/127/103
+f 106/132/106 107/133/107 3/3/3
+f 1/1/1 3/3/3 107/133/107
+f 107/133/107 108/134/108 1/1/1
+f 9/115/9 1/1/1 108/134/108
+f 108/134/108 107/133/107 109/135/109
+f 110/136/110 109/135/109 107/133/107
+f 107/133/107 106/132/106 110/136/110
+f 111/137/111 110/136/110 106/132/106
+f 112/138/112 113/139/113 114/140/114
+f 115/141/115 114/140/114 113/139/113
+f 116/142/116 112/138/112 117/143/117
+f 114/140/114 117/143/117 112/138/112
+f 118/144/118 119/145/119 115/141/115
+f 114/140/114 115/141/115 119/145/119
+f 119/145/119 120/146/120 114/140/114
+f 117/143/117 114/140/114 120/146/120
+f 120/146/120 119/145/119 54/131/54
+f 53/147/53 54/131/54 119/145/119
+f 119/145/119 118/144/118 53/147/53
+f 41/148/41 53/147/53 118/144/118
+f 121/149/121 122/150/122 123/151/123
+f 121/149/121 124/152/124 122/150/122
+f 125/153/125 122/150/122 124/152/124
+f 126/154/126 127/155/127 124/152/124
+f 125/153/125 124/152/124 127/155/127
+f 128/156/128 129/157/129 126/154/126
+f 127/155/127 126/154/126 129/157/129
+f 130/158/130 129/157/129 128/156/128
+f 131/159/131 129/157/129 130/158/130
+f 132/160/132 133/161/133 134/162/134
+f 132/160/132 135/163/135 133/161/133
+f 136/164/136 133/161/133 135/163/135
+f 137/165/137 138/166/138 135/163/135
+f 136/164/136 135/163/135 138/166/138
+f 139/167/139 140/168/140 137/165/137
+f 138/166/138 137/165/137 140/168/140
+f 141/169/141 142/170/142 139/167/139
+f 140/168/140 139/167/139 142/170/142
+f 141/169/141 143/171/143 142/170/142
+f 144/172/144 145/173/145 146/174/146
+f 147/175/147 144/172/144 148/176/148
+f 146/174/146 148/176/148 144/172/144
+f 146/174/146 149/177/149 148/176/148
+f 147/175/147 148/176/148 150/178/150
+f 94/118/94 99/123/99 151/179/151
+f 152/180/152 151/179/151 99/123/99
+f 151/179/151 153/181/153 94/118/94
+f 93/117/93 94/118/94 153/181/153
+f 153/181/153 154/182/154 93/117/93
+f 36/111/36 93/117/93 154/182/154
+f 154/182/154 155/183/155 36/111/36
+f 89/110/89 36/111/36 155/183/155
+f 155/183/155 156/184/156 89/110/89
+f 90/112/90 89/110/89 156/184/156
+f 72/81/72 90/112/90 157/185/157
+f 156/184/156 157/185/157 90/112/90
+f 81/94/81 72/81/72 158/186/158
+f 157/185/157 158/186/158 72/81/72
+f 159/187/159 81/94/81 158/186/158
+f 69/93/69 81/94/81 159/187/159
+f 159/187/159 160/188/160 69/93/69
+f 105/129/105 69/93/69 160/188/160
+f 160/188/160 161/189/161 105/129/105
+f 102/126/102 105/129/105 161/189/161
+f 99/123/99 102/126/102 152/180/152
+f 161/189/161 152/180/152 102/126/102
+f 162/190/162 163/191/163 109/135/109
+f 108/134/108 109/135/109 163/191/163
+f 163/191/163 164/192/164 108/134/108
+f 9/115/9 108/134/108 164/192/164
+f 164/192/164 165/193/165 9/115/9
+f 91/113/91 9/115/9 165/193/165
+f 165/193/165 166/194/166 91/113/91
+f 96/120/96 91/113/91 166/194/166
+f 98/122/98 96/120/96 167/195/167
+f 166/194/166 167/195/167 96/120/96
+f 101/125/101 98/122/98 168/196/168
+f 167/195/167 168/196/168 98/122/98
+f 168/196/168 169/197/169 101/125/101
+f 103/127/103 101/125/101 169/197/169
+f 169/197/169 170/198/170 103/127/103
+f 54/131/54 103/127/103 170/198/170
+f 170/198/170 171/199/171 54/131/54
+f 120/146/120 54/131/54 171/199/171
+f 171/199/171 172/200/172 120/146/120
+f 117/143/117 120/146/120 172/200/172
+f 116/142/116 117/143/117 173/201/173
+f 172/200/172 173/201/173 117/143/117
+f 109/135/109 116/142/116 162/190/162
+f 173/201/173 162/190/162 116/142/116
+f 85/100/85 86/101/86 174/202/174
+f 175/203/175 174/202/174 86/101/86
+f 3/3/3 85/100/85 174/202/174
+f 106/132/106 3/3/3 174/202/174
+f 111/137/111 106/132/106 176/203/176
+f 174/202/174 176/203/176 106/132/106
+f 113/139/113 111/137/111 177/204/177
+f 176/203/176 177/204/177 111/137/111
+f 115/141/115 113/139/113 178/205/178
+f 177/204/177 178/205/178 113/139/113
+f 118/144/118 115/141/115 179/206/179
+f 178/205/178 179/206/179 115/141/115
+f 41/148/41 118/144/118 179/206/179
+f 44/52/44 40/53/40 179/206/179
+f 31/39/31 30/37/30 180/207/180
+f 175/203/175 86/101/86 180/207/180
+f 31/39/31 180/207/180 86/101/86
+f 111/137/111 113/139/113 110/136/110
+f 112/138/112 110/136/110 113/139/113
+f 116/142/116 109/135/109 112/138/112
+f 110/136/110 112/138/112 109/135/109
+f 24/35/24 29/36/29 84/99/84
+f 41/148/41 179/206/179 40/53/40

objects/bread/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/bread/old.obj

@@ -0,0 +1,835 @@
+# Blender v2.75 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib Bread.mtl
+o DrawCall_85
+v -0.294921 0.265827 0.499863
+v -0.290638 0.166204 0.514952
+v -0.225607 0.229865 0.671788
+v -0.214276 0.128601 0.668966
+v -0.243661 0.090871 0.518149
+v -0.197780 0.082205 0.636456
+v -0.276543 0.121412 0.213763
+v -0.336059 0.214645 0.202533
+v -0.353355 0.317439 0.276846
+v -0.075269 0.024499 0.698160
+v -0.197780 0.082205 0.636456
+v -0.071418 0.011876 0.550048
+v -0.243661 0.090871 0.518149
+v -0.276543 0.121412 0.213763
+v -0.043591 0.009117 0.254712
+v 0.117471 0.022578 0.574460
+v 0.083700 0.029195 0.696543
+v 0.185335 0.032816 0.288107
+v 0.117471 0.022578 0.574460
+v 0.218476 0.120066 0.588806
+v 0.083700 0.029195 0.696543
+v 0.142418 0.082350 0.721042
+v 0.248549 0.246287 0.597283
+v 0.167165 0.207760 0.717860
+v 0.320537 0.278625 0.423884
+v 0.316972 0.142889 0.306795
+v 0.185335 0.032816 0.288107
+v 0.199868 0.352390 0.598405
+v 0.128732 0.303585 0.698313
+v 0.268146 0.400548 0.422543
+v 0.072059 0.397283 0.618593
+v 0.038633 0.331872 0.696482
+v -0.343263 0.333808 0.093030
+v -0.245263 0.126836 -0.050538
+v -0.315118 0.224966 -0.060731
+v -0.334892 0.352650 -0.082420
+v -0.245263 0.126836 -0.050538
+v -0.006535 0.011591 -0.014594
+v 0.226590 0.036523 0.023557
+v 0.364463 0.293376 0.260357
+v 0.400865 0.277348 0.080426
+v 0.357176 0.150218 0.046872
+v 0.226590 0.036523 0.023557
+v 0.329234 0.367552 0.274940
+v -0.300407 0.315231 -0.345544
+v -0.277550 0.203963 -0.329475
+v -0.206254 0.112757 -0.313886
+v -0.008891 0.012857 -0.280002
+v -0.206254 0.112757 -0.313886
+v 0.207828 0.033287 -0.249129
+v 0.207828 0.033287 -0.249129
+v 0.330742 0.133868 -0.233914
+v 0.379290 0.255313 -0.103729
+v 0.359480 0.248769 -0.300258
+v -0.227109 0.275729 -0.651291
+v -0.210824 0.170286 -0.640291
+v -0.156989 0.092061 -0.591211
+v -0.129864 0.118296 -0.752041
+v -0.144817 0.246725 -0.800975
+v -0.009434 0.017096 -0.530649
+v -0.156989 0.092061 -0.591211
+v -0.129864 0.118296 -0.752041
+v 0.007200 0.070343 -0.769094
+v 0.174773 0.028661 -0.528318
+v 0.189891 0.083353 -0.739219
+v 0.174773 0.028661 -0.528318
+v 0.279475 0.112018 -0.563615
+v 0.313262 0.221136 -0.531332
+v 0.268368 0.213876 -0.729781
+v 0.189891 0.083353 -0.739219
+v -0.190558 0.503141 -0.382192
+v 0.068012 0.539697 -0.401846
+v -0.133176 0.466699 -0.584613
+v 0.071385 0.486876 -0.589152
+v 0.082713 0.392969 -0.722948
+v -0.107352 0.393939 -0.713584
+v -0.200244 0.387686 -0.614649
+v -0.266239 0.426766 -0.365840
+v 0.169692 0.199880 -0.809127
+v 0.181945 0.374625 -0.696975
+v 0.250030 0.357871 -0.655644
+v 0.066394 0.208099 -0.841539
+v 0.007200 0.070343 -0.769094
+v 0.042814 0.210819 0.743573
+v -0.175581 0.297860 0.676055
+v -0.141760 0.345349 0.657095
+v 0.002362 0.083165 0.746839
+v -0.075269 0.024499 0.698160
+v -0.282154 0.442149 -0.200201
+v -0.197289 0.511395 -0.270477
+v -0.308256 0.434733 0.158259
+v -0.301397 0.449488 0.050128
+v -0.291220 0.452484 -0.060839
+v -0.203468 0.529640 -0.092167
+v -0.209117 0.532980 -0.001009
+v -0.215144 0.520345 0.090370
+v 0.094839 0.574414 -0.100110
+v 0.101880 0.566666 -0.024553
+v 0.085443 0.565547 -0.173859
+v 0.288981 0.450655 -0.299410
+v 0.302730 0.449421 -0.222844
+v 0.271822 0.441427 -0.372376
+v 0.341150 0.351953 -0.301229
+v 0.319676 0.346709 -0.420928
+v 0.293244 0.337484 -0.526949
+v -0.223064 0.339376 0.579406
+v -0.265227 0.374735 0.457835
+v -0.300386 0.402689 0.319795
+v -0.218406 0.484519 0.296549
+v -0.193920 0.462533 0.405384
+v -0.165776 0.425526 0.509866
+v 0.073716 0.541779 0.288372
+v 0.082318 0.514249 0.366274
+v 0.315899 0.466101 0.085931
+v 0.320446 0.456860 0.154074
+v 0.062499 0.553115 0.214406
+v 0.305144 0.465398 0.019837
+v 0.379403 0.375091 0.076443
+v 0.371444 0.374739 -0.022647
+v 0.355159 0.369072 -0.115597
+v -0.282595 0.443489 -0.104618
+v -0.260879 0.445470 -0.164822
+v -0.308504 0.397778 -0.110620
+v -0.201338 0.510110 -0.127345
+v -0.188002 0.489711 -0.215153
+v 0.078391 0.545033 -0.202556
+v 0.080110 0.507127 -0.316753
+v 0.260872 0.427673 -0.393875
+v 0.247630 0.399643 -0.513434
+v 0.275043 0.340078 -0.538148
+v 0.261056 0.294768 -0.631325
+v -0.301784 0.405632 0.269578
+v -0.295056 0.424234 0.203217
+v -0.332509 0.365008 0.253663
+v -0.219302 0.477951 0.257337
+v -0.214981 0.489360 0.149123
+v 0.057332 0.543815 0.187665
+v 0.094390 0.531124 0.042161
+v 0.291299 0.456237 -0.013007
+v 0.292578 0.444200 -0.149575
+v 0.336104 0.374202 -0.137613
+v 0.326588 0.370900 -0.219453
+v 0.345262 0.309551 -0.243794
+v 0.080760 0.455721 0.418234
+v -0.146312 0.369014 0.567850
+v 0.063969 0.416190 0.512471
+v 0.296745 0.423916 0.205390
+v 0.329234 0.367552 0.274940
+v 0.268146 0.400548 0.422543
+v 0.355917 0.330392 0.167249
+v -0.201338 0.510110 -0.127345
+v 0.078391 0.545033 -0.202556
+v -0.282595 0.443489 -0.104618
+v -0.308504 0.397778 -0.110620
+v -0.260879 0.445470 -0.164822
+v -0.188002 0.489711 -0.215153
+v 0.080110 0.507127 -0.316753
+v 0.247630 0.399643 -0.513434
+v 0.261056 0.294768 -0.631325
+v 0.275043 0.340078 -0.538148
+v 0.260872 0.427673 -0.393875
+v -0.219302 0.477951 0.257337
+v -0.301784 0.405632 0.269578
+v -0.332509 0.365008 0.253663
+v -0.295056 0.424234 0.203217
+v -0.214981 0.489360 0.149123
+v 0.094390 0.531124 0.042161
+v 0.292578 0.444200 -0.149575
+v 0.326588 0.370900 -0.219453
+v 0.345262 0.309551 -0.243794
+v 0.336104 0.374202 -0.137613
+v 0.291299 0.456237 -0.013007
+v 0.057332 0.543815 0.187665
+v -0.184909 0.320606 0.603662
+v -0.146312 0.369014 0.567850
+v -0.146312 0.369014 0.567850
+v 0.080760 0.455721 0.418234
+v 0.296745 0.423916 0.205390
+v 0.355917 0.330392 0.167249
+v 0.063969 0.416190 0.512471
+vt 0.946368 0.715229
+vt 0.942766 0.722451
+vt 0.888081 0.797514
+vt 0.490713 0.103871
+vt 0.481116 0.102520
+vt 0.426045 0.177583
+vt 0.465827 0.176053
+vt 0.504683 0.119430
+vt 0.437982 0.321736
+vt 0.387580 0.327111
+vt 0.422418 0.184805
+vt 0.372933 0.291544
+vt 0.203883 0.530088
+vt 0.252430 0.508862
+vt 0.202357 0.479139
+vt 0.270612 0.468165
+vt 0.283642 0.363458
+vt 0.191330 0.377545
+vt 0.127506 0.487536
+vt 0.140889 0.529532
+vt 0.100614 0.389032
+vt 0.087481 0.492471
+vt 0.494035 0.779211
+vt 0.518106 0.772153
+vt 0.462855 0.741115
+vt 0.857190 0.142236
+vt 0.882657 0.138179
+vt 0.792780 0.078947
+vt 0.813737 0.080470
+vt 0.943621 0.221170
+vt 0.940601 0.277210
+vt 0.048451 0.395461
+vt 0.489357 0.761855
+vt 0.530293 0.762392
+vt 0.557794 0.819564
+vt 0.590112 0.810209
+vt 0.472878 0.678222
+vt 0.428821 0.678864
+vt 0.637769 0.772054
+vt 0.665878 0.809332
+vt 0.381480 0.379520
+vt 0.464471 0.448234
+vt 0.405315 0.453112
+vt 0.388568 0.463492
+vt 0.271246 0.272540
+vt 0.176646 0.284905
+vt 0.084266 0.298029
+vt 0.980819 0.299435
+vt 1.011647 0.385552
+vt 0.974649 0.401612
+vt 0.032519 0.306049
+vt 0.421508 0.607578
+vt 0.391883 0.600598
+vt 0.417772 0.589427
+vt 0.437129 0.581736
+vt 0.497506 0.574275
+vt 0.177580 0.193606
+vt 0.255788 0.181951
+vt 0.091701 0.204226
+vt 0.042994 0.209460
+vt 0.952262 0.535999
+vt 0.993376 0.473691
+vt 0.976599 0.567752
+vt 0.479845 0.735761
+vt 0.493636 0.730496
+vt 0.539226 0.707006
+vt 0.562197 0.783981
+vt 0.549534 0.807401
+vt 0.177795 0.107385
+vt 0.236267 0.086552
+vt 0.225518 0.031228
+vt 0.171203 0.025361
+vt 0.104800 0.108187
+vt 0.098809 0.035639
+vt 0.063309 0.096045
+vt 0.908847 0.693798
+vt 0.937460 0.678347
+vt 0.899441 0.773327
+vt 0.832982 0.777844
+vt 0.858608 0.293067
+vt 0.641173 0.283661
+vt 0.810354 0.196186
+vt 0.638336 0.194014
+vt 0.628811 0.129977
+vt 0.788639 0.134459
+vt 0.866753 0.181811
+vt 0.922249 0.300894
+vt 0.889344 0.164273
+vt 0.950981 0.310607
+vt 0.820143 0.092633
+vt 0.555669 0.088731
+vt 0.545364 0.142409
+vt 0.472690 0.126707
+vt 0.488111 0.162190
+vt 0.642533 0.073218
+vt 0.815877 0.811303
+vt 0.728399 0.826816
+vt 0.678270 0.792143
+vt 0.662362 0.831871
+vt 0.846013 0.799556
+vt 0.817573 0.790482
+vt 0.674173 0.066600
+vt 0.583797 0.769431
+vt 0.580055 0.831768
+vt 0.618748 0.782795
+vt 0.696378 0.833434
+vt 0.532260 0.805630
+vt 0.708430 0.068163
+vt 0.551450 0.786642
+vt 0.935632 0.380170
+vt 0.979980 0.436541
+vt 0.864268 0.346535
+vt 0.957581 0.551733
+vt 0.951813 0.499981
+vt 0.995506 0.608490
+vt 0.987019 0.520514
+vt 0.943256 0.446870
+vt 0.869464 0.431876
+vt 0.874214 0.475506
+vt 0.879282 0.519241
+vt 0.618614 0.428075
+vt 0.612692 0.464237
+vt 0.626515 0.392778
+vt 0.455357 0.332688
+vt 0.443795 0.369333
+vt 0.469786 0.297765
+vt 0.411487 0.331817
+vt 0.429545 0.274528
+vt 0.451772 0.223785
+vt 0.434938 0.221687
+vt 0.396074 0.332282
+vt 0.885943 0.753299
+vt 0.921398 0.695114
+vt 0.950963 0.629046
+vt 0.882026 0.617920
+vt 0.861434 0.670010
+vt 0.837768 0.720016
+vt 0.636376 0.614007
+vt 0.629142 0.651292
+vt 0.432721 0.517116
+vt 0.428897 0.549730
+vt 0.645809 0.578606
+vt 0.441765 0.485483
+vt 0.379319 0.512575
+vt 0.386013 0.465149
+vt 0.399706 0.420662
+vt 0.379415 0.426343
+vt 0.361272 0.514481
+vt 0.309650 0.641218
+vt 0.273232 0.653782
+vt 0.306020 0.626919
+vt 0.295902 0.686432
+vt 0.242787 0.694598
+vt 0.250404 0.842055
+vt 0.181326 0.844021
+vt 0.134673 0.944838
+vt 0.062352 0.938563
+vt 0.047403 0.953967
+vt -0.008961 0.947046
+vt 0.302681 0.596385
+vt 0.262920 0.603245
+vt 0.291785 0.580180
+vt 0.298766 0.642495
+vt 0.233648 0.650009
+vt 0.268366 0.798496
+vt 0.182123 0.825849
+vt 0.157120 0.937155
+vt 0.074764 0.944334
+vt 0.083814 0.967793
+vt 0.034029 0.966419
+vt 0.020126 0.977881
+vt 0.186303 0.771795
+vt 0.253266 0.633223
+vt 0.240897 0.753328
+vt 0.080513 0.910573
+vt 0.125219 0.921409
+vt 0.207307 0.873520
+vt 0.063569 0.946600
+vt 0.867673 0.415040
+vt 0.632445 0.379043
+vt 0.936003 0.425917
+vt 0.957790 0.423044
+vt 0.917741 0.397103
+vt 0.856458 0.373014
+vt 0.630999 0.324387
+vt 0.490129 0.230253
+vt 0.478839 0.173829
+vt 0.467078 0.218425
+vt 0.478994 0.287476
+vt 0.882779 0.599153
+vt 0.952139 0.605011
+vt 0.977976 0.597395
+vt 0.946481 0.573251
+vt 0.879145 0.547361
+vt 0.618991 0.496167
+vt 0.452332 0.404400
+vt 0.423733 0.370956
+vt 0.408029 0.359306
+vt 0.415731 0.410125
+vt 0.453408 0.469763
+vt 0.650154 0.565807
+vt 0.853858 0.764908
+vt 0.821401 0.747768
+vt 0.630453 0.676160
+vt 0.448828 0.574291
+vt 0.399069 0.556036
+vt 0.644572 0.721263
+vn -0.933700 0.170600 0.314900
+vn -0.936100 -0.269900 0.225700
+vn -0.662000 0.173300 0.729200
+vn -0.654700 -0.334000 0.678100
+vn -0.838500 -0.514100 0.180300
+vn -0.651300 -0.533000 0.540100
+vn -0.841400 -0.539700 -0.028300
+vn -0.936900 -0.349300 -0.014100
+vn -0.984300 0.104600 0.141900
+vn -0.181700 -0.980600 0.073900
+vn -0.439000 -0.894400 0.085900
+vn -0.195400 -0.980200 0.031900
+vn -0.417700 -0.908500 0.005700
+vn -0.422900 -0.904500 -0.055000
+vn -0.172000 -0.984900 -0.020300
+vn 0.049400 -0.998500 0.022500
+vn 0.030100 -0.997600 0.062400
+vn 0.094300 -0.995500 0.003000
+vn 0.658900 -0.727500 0.191100
+vn 0.818300 -0.489000 0.302200
+vn 0.365900 -0.712400 0.598900
+vn 0.557700 -0.448400 0.698500
+vn 0.877200 0.073400 0.474500
+vn 0.574200 0.092900 0.813400
+vn 0.940900 0.069700 0.331300
+vn 0.830000 -0.528100 0.179400
+vn 0.632000 -0.768200 0.101900
+vn 0.596800 0.616900 0.513100
+vn 0.361600 0.494200 0.790600
+vn 0.764400 0.535700 0.358700
+vn 0.072200 0.895800 0.438500
+vn -0.039100 0.594100 0.803400
+vn -0.993200 0.103600 -0.053100
+vn -0.810400 -0.578900 -0.090600
+vn -0.921500 -0.377100 -0.092500
+vn -0.985700 0.143700 -0.087500
+vn -0.433100 -0.900600 -0.038100
+vn -0.157800 -0.987300 -0.016200
+vn 0.104900 -0.994500 0.004200
+vn 0.971700 0.114700 0.206500
+vn 0.997400 -0.022500 0.068100
+vn 0.835600 -0.548800 0.026300
+vn 0.649200 -0.760000 0.029900
+vn 0.897200 0.382800 0.220400
+vn -0.983700 0.018800 -0.178600
+vn -0.898600 -0.423900 -0.113400
+vn -0.782700 -0.617300 -0.079900
+vn -0.186200 -0.982500 -0.008200
+vn -0.449100 -0.893300 -0.016300
+vn 0.096900 -0.995300 0.001800
+vn 0.632300 -0.773500 -0.043500
+vn 0.830800 -0.551600 -0.074100
+vn 0.991900 -0.086100 -0.092900
+vn 0.989300 -0.047400 -0.137700
+vn -0.917100 0.072000 -0.392200
+vn -0.869400 -0.393100 -0.299400
+vn -0.767100 -0.624400 -0.147400
+vn -0.596800 -0.405800 -0.692200
+vn -0.544500 0.092000 -0.833700
+vn -0.180800 -0.977300 -0.110600
+vn -0.408000 -0.904300 -0.125400
+vn -0.356600 -0.907800 -0.221000
+vn -0.122400 -0.966800 -0.224400
+vn 0.070700 -0.989600 -0.125400
+vn 0.087300 -0.970500 -0.224800
+vn 0.598700 -0.794600 -0.100700
+vn 0.814700 -0.553500 -0.173000
+vn 0.979200 -0.061800 -0.193000
+vn 0.828100 0.013800 -0.560400
+vn 0.570200 -0.544000 -0.615500
+vn -0.462000 0.866400 -0.189600
+vn 0.274400 0.961500 0.013700
+vn -0.363000 0.845100 -0.392600
+vn 0.220700 0.898600 -0.379400
+vn 0.131600 0.689000 -0.712700
+vn -0.299100 0.686600 -0.662600
+vn -0.756700 0.509800 -0.409400
+vn -0.850700 0.480800 -0.212400
+vn 0.436300 0.003600 -0.899800
+vn 0.428600 0.666300 -0.610200
+vn 0.772100 0.529700 -0.351100
+vn 0.074500 0.021700 -0.997000
+vn -0.067600 -0.441500 -0.894700
+vn -0.005300 0.175500 0.984500
+vn -0.469400 0.423600 0.774700
+vn -0.294300 0.703200 0.647300
+vn -0.080500 -0.280300 0.956500
+vn -0.371000 -0.251000 0.894100
+vn -0.734300 0.676600 0.054600
+vn -0.327100 0.935400 0.134500
+vn -0.752500 0.636000 0.170800
+vn -0.828000 0.560500 -0.016800
+vn -0.802000 0.583600 -0.127100
+vn -0.431700 0.869500 -0.240000
+vn -0.409000 0.912300 0.020200
+vn -0.318100 0.909000 0.269200
+vn 0.201500 0.979300 -0.017400
+vn 0.321300 0.905000 0.278800
+vn 0.051500 0.948100 -0.313700
+vn 0.667700 0.723900 -0.173500
+vn 0.772300 0.635100 0.017700
+vn 0.433600 0.805400 -0.404200
+vn 0.949200 0.304800 -0.078300
+vn 0.919100 0.329200 -0.216600
+vn 0.726700 0.566300 -0.388900
+vn -0.544300 0.592000 0.594400
+vn -0.752400 0.551500 0.360300
+vn -0.778100 0.588400 0.219800
+vn -0.463800 0.882000 0.083300
+vn -0.399500 0.855400 0.329800
+vn -0.216600 0.805100 0.552100
+vn 0.147900 0.962600 0.227000
+vn 0.300200 0.806800 0.508900
+vn 0.600800 0.799300 -0.012900
+vn 0.687800 0.662600 0.296600
+vn 0.027800 0.997800 -0.061000
+vn 0.473000 0.853700 -0.217900
+vn 0.920500 0.381000 0.086300
+vn 0.905200 0.407300 -0.121000
+vn 0.779000 0.567200 -0.267400
+vn -0.761800 0.595400 -0.255200
+vn -0.686200 0.684800 -0.245200
+vn -0.819200 0.501000 -0.279000
+vn -0.461700 0.847200 -0.262700
+vn -0.325300 0.909000 -0.260600
+vn -0.070000 0.947900 -0.310900
+vn 0.097000 0.946500 -0.307800
+vn 0.409400 0.877200 -0.251000
+vn 0.748000 0.612200 -0.256200
+vn 0.798700 0.504000 -0.328800
+vn 0.779000 0.509900 -0.364900
+vn -0.741100 0.662300 0.110500
+vn -0.671100 0.734200 0.102800
+vn -0.809900 0.580900 0.080700
+vn -0.436700 0.897000 0.068200
+vn -0.278900 0.956100 0.089700
+vn -0.118100 0.985400 -0.122900
+vn 0.253200 0.967400 -0.003300
+vn 0.417300 0.905100 -0.081700
+vn 0.794600 0.605900 -0.039000
+vn 0.819400 0.561000 -0.117900
+vn 0.911800 0.396200 -0.107700
+vn 0.935000 0.333100 -0.122200
+vn 0.368400 0.833000 0.412900
+vn -0.110300 0.923400 0.367700
+vn 0.062400 0.939000 0.338100
+vn 0.687800 0.686800 0.235300
+vn 0.599300 0.775100 0.200100
+vn -0.026000 0.973200 -0.228300
+vn 0.850000 0.525900 0.029100
+vn -0.446500 0.769700 -0.456400
+vn -0.137000 0.822200 -0.552500
+vn -0.756100 0.589600 -0.283900
+vn -0.862300 0.252800 -0.438700
+vn -0.543800 0.811600 0.213300
+vn -0.205400 0.909400 0.361600
+vn 0.319300 0.899200 0.299300
+vn 0.627700 0.760100 -0.168000
+vn 0.917400 0.340700 -0.205800
+vn 0.429200 0.763300 -0.482900
+vn 0.037100 0.837200 -0.545700
+vn -0.473000 0.870100 -0.138500
+vn -0.754600 0.654800 0.042800
+vn -0.921400 0.329200 -0.206400
+vn -0.634500 0.699900 0.328000
+vn -0.275500 0.855600 0.438200
+vn 0.268800 0.837500 0.475700
+vn 0.723200 0.669400 0.169800
+vn 0.952700 0.281100 0.115800
+vn 0.961700 0.273300 -0.019600
+vn 0.628700 0.688100 -0.362400
+vn 0.335200 0.864500 -0.374700
+vn -0.084100 0.946500 -0.311600
+vn -0.452900 0.697800 0.554900
+vn -0.332600 0.907200 0.257500
+vn -0.049000 0.702800 0.709700
+vn 0.356800 0.622400 0.696600
+vn 0.708500 0.399900 0.581500
+vn 0.887500 0.385800 0.251900
+vn 0.007400 0.983000 0.183200
+usemtl Material.001
+s 1
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 3/5/3 2/6/2
+f 2/6/2 5/7/5 4/4/4
+f 6/8/6 4/4/4 5/7/5
+f 5/7/5 2/6/2 7/9/7
+f 8/10/8 7/9/7 2/6/2
+f 2/6/2 1/11/1 8/10/8
+f 9/12/9 8/10/8 1/11/1
+f 10/13/10 11/14/11 12/15/12
+f 13/16/13 12/15/12 11/14/11
+f 13/16/13 14/17/14 12/15/12
+f 15/18/15 12/15/12 14/17/14
+f 12/15/12 16/19/16 10/13/10
+f 17/20/17 10/13/10 16/19/16
+f 16/19/16 12/15/12 18/21/18
+f 15/18/15 18/21/18 12/15/12
+f 19/19/19 20/22/20 21/20/21
+f 22/23/22 21/24/21 20/25/20
+f 20/26/20 23/27/23 22/28/22
+f 24/29/24 22/28/22 23/27/23
+f 23/27/23 20/26/20 25/30/25
+f 26/31/26 25/30/25 20/26/20
+f 20/22/20 19/19/19 26/32/26
+f 27/21/27 26/32/26 19/19/19
+f 23/33/23 28/34/28 24/35/24
+f 29/36/29 24/35/24 28/34/28
+f 28/34/28 23/33/23 30/37/30
+f 25/38/25 30/37/30 23/33/23
+f 28/34/28 31/39/31 29/36/29
+f 32/40/32 29/36/29 31/39/31
+f 28/34/28 30/37/30 31/39/31
+f 8/10/8 9/12/9 33/41/33
+f 7/9/7 8/10/8 34/42/34
+f 35/43/35 34/42/34 8/10/8
+f 8/10/8 33/41/33 35/43/35
+f 36/44/36 35/43/35 33/41/33
+f 14/17/14 37/45/37 15/18/15
+f 38/46/38 15/18/15 37/45/37
+f 18/21/18 15/18/15 39/47/39
+f 38/46/38 39/47/39 15/18/15
+f 25/30/25 26/31/26 40/48/40
+f 40/48/40 26/31/26 41/49/41
+f 42/50/42 41/49/41 26/31/26
+f 26/32/26 27/21/27 42/51/42
+f 43/47/43 42/51/42 27/21/27
+f 44/52/44 30/37/30 40/53/40
+f 25/38/25 40/53/40 30/37/30
+f 45/54/45 46/55/46 36/44/36
+f 35/43/35 36/44/36 46/55/46
+f 46/55/46 47/56/47 35/43/35
+f 34/42/34 35/43/35 47/56/47
+f 38/46/38 37/45/37 48/57/48
+f 49/58/49 48/57/48 37/45/37
+f 48/57/48 50/59/50 38/46/38
+f 39/47/39 38/46/38 50/59/50
+f 51/59/51 52/60/52 43/47/43
+f 42/51/42 43/47/43 52/60/52
+f 52/61/52 53/62/53 42/50/42
+f 41/49/41 42/50/42 53/62/53
+f 52/61/52 54/63/54 53/62/53
+f 55/64/55 56/65/56 45/54/45
+f 46/55/46 45/54/45 56/65/56
+f 56/65/56 57/66/57 46/55/46
+f 47/56/47 46/55/46 57/66/57
+f 56/65/56 58/67/58 57/66/57
+f 56/65/56 55/64/55 58/67/58
+f 59/68/59 58/67/58 55/64/55
+f 48/57/48 49/58/49 60/69/60
+f 61/70/61 60/69/60 49/58/49
+f 61/70/61 62/71/62 60/69/60
+f 63/72/63 60/69/60 62/71/62
+f 60/69/60 64/73/64 48/57/48
+f 50/59/50 48/57/48 64/73/64
+f 64/73/64 60/69/60 65/74/65
+f 63/72/63 65/74/65 60/69/60
+f 66/73/66 67/75/67 51/59/51
+f 52/60/52 51/59/51 67/75/67
+f 67/76/67 68/77/68 52/61/52
+f 54/63/54 52/61/52 68/77/68
+f 68/77/68 67/76/67 69/78/69
+f 70/79/70 69/78/69 67/76/67
+f 66/73/66 70/74/70 67/75/67
+f 71/80/71 72/81/72 73/82/73
+f 74/83/74 73/82/73 72/81/72
+f 74/83/74 75/84/75 73/82/73
+f 76/85/76 73/82/73 75/84/75
+f 73/82/73 77/86/77 71/80/71
+f 78/87/78 71/80/71 77/86/77
+f 77/86/77 55/88/55 78/87/78
+f 45/89/45 78/87/78 55/88/55
+f 55/88/55 77/86/77 59/90/59
+f 76/85/76 59/90/59 77/86/77
+f 73/82/73 76/85/76 77/86/77
+f 79/91/79 80/92/80 69/93/69
+f 81/94/81 69/93/69 80/92/80
+f 80/92/80 79/91/79 75/84/75
+f 82/95/82 75/84/75 79/91/79
+f 59/90/59 76/85/76 82/95/82
+f 75/84/75 82/95/82 76/85/76
+f 69/78/69 70/79/70 79/96/79
+f 79/96/79 70/79/70 82/97/82
+f 83/98/83 82/97/82 70/79/70
+f 59/68/59 82/97/82 58/67/58
+f 83/98/83 58/67/58 82/97/82
+f 84/99/84 29/36/29 32/40/32
+f 32/40/32 31/39/31 85/100/85
+f 86/101/86 85/100/85 31/39/31
+f 84/99/84 32/40/32 3/3/3
+f 85/100/85 3/3/3 32/40/32
+f 4/4/4 6/8/6 87/102/87
+f 88/103/88 87/104/87 6/105/6
+f 84/99/84 3/3/3 87/106/87
+f 4/4/4 87/102/87 3/5/3
+f 87/104/87 88/103/88 21/107/21
+f 84/108/84 87/102/87 24/29/24
+f 22/28/22 24/29/24 87/102/87
+f 21/24/21 22/23/22 87/109/87
+f 89/110/89 78/87/78 36/111/36
+f 45/89/45 36/111/36 78/87/78
+f 78/87/78 89/110/89 71/80/71
+f 90/112/90 71/80/71 89/110/89
+f 72/81/72 71/80/71 90/112/90
+f 74/83/74 72/81/72 80/92/80
+f 81/94/81 80/92/80 72/81/72
+f 75/84/75 74/83/74 80/92/80
+f 91/113/91 92/114/92 9/115/9
+f 33/116/33 9/115/9 92/114/92
+f 92/114/92 93/117/93 33/116/33
+f 36/111/36 33/116/33 93/117/93
+f 93/117/93 92/114/92 94/118/94
+f 95/119/95 94/118/94 92/114/92
+f 92/114/92 91/113/91 95/119/95
+f 96/120/96 95/119/95 91/113/91
+f 95/119/95 96/120/96 97/121/97
+f 98/122/98 97/121/97 96/120/96
+f 94/118/94 95/119/95 99/123/99
+f 97/121/97 99/123/99 95/119/95
+f 97/121/97 98/122/98 100/124/100
+f 101/125/101 100/124/100 98/122/98
+f 99/123/99 97/121/97 102/126/102
+f 100/124/100 102/126/102 97/121/97
+f 103/127/103 104/128/104 101/125/101
+f 100/124/100 101/125/101 104/128/104
+f 104/128/104 105/129/105 100/124/100
+f 102/126/102 100/124/100 105/129/105
+f 105/129/105 104/128/104 69/93/69
+f 68/130/68 69/93/69 104/128/104
+f 104/128/104 103/127/103 68/130/68
+f 54/131/54 68/130/68 103/127/103
+f 106/132/106 107/133/107 3/3/3
+f 1/1/1 3/3/3 107/133/107
+f 107/133/107 108/134/108 1/1/1
+f 9/115/9 1/1/1 108/134/108
+f 108/134/108 107/133/107 109/135/109
+f 110/136/110 109/135/109 107/133/107
+f 107/133/107 106/132/106 110/136/110
+f 111/137/111 110/136/110 106/132/106
+f 112/138/112 113/139/113 114/140/114
+f 115/141/115 114/140/114 113/139/113
+f 116/142/116 112/138/112 117/143/117
+f 114/140/114 117/143/117 112/138/112
+f 118/144/118 119/145/119 115/141/115
+f 114/140/114 115/141/115 119/145/119
+f 119/145/119 120/146/120 114/140/114
+f 117/143/117 114/140/114 120/146/120
+f 120/146/120 119/145/119 54/131/54
+f 53/147/53 54/131/54 119/145/119
+f 119/145/119 118/144/118 53/147/53
+f 41/148/41 53/147/53 118/144/118
+f 121/149/121 122/150/122 123/151/123
+f 121/149/121 124/152/124 122/150/122
+f 125/153/125 122/150/122 124/152/124
+f 126/154/126 127/155/127 124/152/124
+f 125/153/125 124/152/124 127/155/127
+f 128/156/128 129/157/129 126/154/126
+f 127/155/127 126/154/126 129/157/129
+f 130/158/130 129/157/129 128/156/128
+f 131/159/131 129/157/129 130/158/130
+f 132/160/132 133/161/133 134/162/134
+f 132/160/132 135/163/135 133/161/133
+f 136/164/136 133/161/133 135/163/135
+f 137/165/137 138/166/138 135/163/135
+f 136/164/136 135/163/135 138/166/138
+f 139/167/139 140/168/140 137/165/137
+f 138/166/138 137/165/137 140/168/140
+f 141/169/141 142/170/142 139/167/139
+f 140/168/140 139/167/139 142/170/142
+f 141/169/141 143/171/143 142/170/142
+f 144/172/144 145/173/145 146/174/146
+f 147/175/147 144/172/144 148/176/148
+f 146/174/146 148/176/148 144/172/144
+f 146/174/146 149/177/149 148/176/148
+f 147/175/147 148/176/148 150/178/150
+f 94/118/94 99/123/99 151/179/151
+f 152/180/152 151/179/151 99/123/99
+f 151/179/151 153/181/153 94/118/94
+f 93/117/93 94/118/94 153/181/153
+f 153/181/153 154/182/154 93/117/93
+f 36/111/36 93/117/93 154/182/154
+f 154/182/154 155/183/155 36/111/36
+f 89/110/89 36/111/36 155/183/155
+f 155/183/155 156/184/156 89/110/89
+f 90/112/90 89/110/89 156/184/156
+f 72/81/72 90/112/90 157/185/157
+f 156/184/156 157/185/157 90/112/90
+f 81/94/81 72/81/72 158/186/158
+f 157/185/157 158/186/158 72/81/72
+f 159/187/159 81/94/81 158/186/158
+f 69/93/69 81/94/81 159/187/159
+f 159/187/159 160/188/160 69/93/69
+f 105/129/105 69/93/69 160/188/160
+f 160/188/160 161/189/161 105/129/105
+f 102/126/102 105/129/105 161/189/161
+f 99/123/99 102/126/102 152/180/152
+f 161/189/161 152/180/152 102/126/102
+f 162/190/162 163/191/163 109/135/109
+f 108/134/108 109/135/109 163/191/163
+f 163/191/163 164/192/164 108/134/108
+f 9/115/9 108/134/108 164/192/164
+f 164/192/164 165/193/165 9/115/9
+f 91/113/91 9/115/9 165/193/165
+f 165/193/165 166/194/166 91/113/91
+f 96/120/96 91/113/91 166/194/166
+f 98/122/98 96/120/96 167/195/167
+f 166/194/166 167/195/167 96/120/96
+f 101/125/101 98/122/98 168/196/168
+f 167/195/167 168/196/168 98/122/98
+f 168/196/168 169/197/169 101/125/101
+f 103/127/103 101/125/101 169/197/169
+f 169/197/169 170/198/170 103/127/103
+f 54/131/54 103/127/103 170/198/170
+f 170/198/170 171/199/171 54/131/54
+f 120/146/120 54/131/54 171/199/171
+f 171/199/171 172/200/172 120/146/120
+f 117/143/117 120/146/120 172/200/172
+f 116/142/116 117/143/117 173/201/173
+f 172/200/172 173/201/173 117/143/117
+f 109/135/109 116/142/116 162/190/162
+f 173/201/173 162/190/162 116/142/116
+f 85/100/85 86/101/86 174/202/174
+f 175/203/175 174/202/174 86/101/86
+f 3/3/3 85/100/85 174/202/174
+f 106/132/106 3/3/3 174/202/174
+f 111/137/111 106/132/106 176/203/176
+f 174/202/174 176/203/176 106/132/106
+f 113/139/113 111/137/111 177/204/177
+f 176/203/176 177/204/177 111/137/111
+f 115/141/115 113/139/113 178/205/178
+f 177/204/177 178/205/178 113/139/113
+f 118/144/118 115/141/115 179/206/179
+f 178/205/178 179/206/179 115/141/115
+f 41/148/41 118/144/118 179/206/179
+f 44/52/44 40/53/40 179/206/179
+f 31/39/31 30/37/30 180/207/180
+f 175/203/175 86/101/86 180/207/180
+f 31/39/31 180/207/180 86/101/86
+f 111/137/111 113/139/113 110/136/110
+f 112/138/112 110/136/110 113/139/113
+f 116/142/116 109/135/109 112/138/112
+f 110/136/110 112/138/112 109/135/109
+f 24/35/24 29/36/29 84/99/84
+f 41/148/41 179/206/179 40/53/40

objects/camera_annotated/base.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 29.04.2011 09:52:53
+
+newmtl 10124_SLR_Camera_V1
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5880 0.5880 0.5880
+	Kd 0.5880 0.5880 0.5880
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka camera_diffuse.jpg
+	map_Kd camera_diffuse.jpg

objects/camera_annotated/model_data.json

@@ -0,0 +1,227 @@
+{
+    "center": [
+        1.4852396398396155e-07,
+        -4.694543494620984e-07,
+        0.3801412642964436
+    ],
+    "extents": [
+        1.0000020791712079,
+        0.7604108783138809,
+        0.760284606945514
+    ],
+    "scale": [
+        0.25,
+        0.25,
+        0.25
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.1
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.4
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                -0.4999999999999998,
+                0.8660254037844387,
+                -5.3028761936245346e-17,
+                0.32
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                1.0,
+                0.17
+            ],
+            [
+                0.8660254037844387,
+                0.4999999999999998,
+                -3.061616997868382e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                0.5000000000000001,
+                -0.8660254037844386,
+                -5.302876193624534e-17,
+                -0.32
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                0.1
+            ],
+            [
+                0.8660254037844386,
+                0.5000000000000001,
+                3.0616169978683836e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                6.123233995736766e-17,
+                -1.0,
+                -0.4
+            ],
+            [
+                -1.0,
+                3.749399456654644e-33,
+                -6.123233995736766e-17,
+                -0.08
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.52
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            -0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "functional_matrix": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.1
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                -0.4
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "orientation_point": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.38020543915694044
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grasping the side of the camera.",
+        "Grasping the side of the camera.",
+        "Pointing the shutter."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/camera_annotated/models.py

@@ -0,0 +1,116 @@
+import trimesh
+import json
+import numpy as np
+
+
+PI = np.pi
+
+def create_model_data(id):
+    file_path = f"./textured{id}.obj"
+    save_path = f"./model_data{id}.json"
+
+    # with open(save_path, 'r') as json_file:
+    #     data = json.load(json_file)
+        
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='obj')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+    red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
+    green_color = [0.0, 1.0, 0.0, 0.5]
+    blue_color = [0.0, 0.0, 1.0, 0.5]
+    scale = [0.25] * 3
+    shape = oriented_bounding_box.extents.tolist()
+    
+    print(shape)
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.1,-0.4,0.3])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+    target_points_list = [target_trans_matrix_sphere.tolist()]
+
+    # # 可视化网格和坐标轴
+    scene.add_geometry(target_sphere)
+
+    contact_points_list = []
+    contact_point_discription_list = []
+    orientation_point_list = []
+    functional_matrix = []
+
+    def add_contact_point(point_radius, pose:list, euler:list, discription: str):
+        contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
+        contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
+        contact_sphere.apply_transform(contact_trans_matrix_sphere)
+        contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+        contact_points_list.append(contact_trans_matrix_sphere.tolist())
+
+        axis = trimesh.creation.axis(axis_length=2)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+
+    alpha = 0.95
+    delta = 0.05
+    
+    add_contact_point(0.1, [0.32, 0.17, 0.3], [-PI / 2, - 2 * PI / 3, 0], "Grasping the side of the camera.")
+    add_contact_point(0.1, [-0.32, 0.1, 0.3], [PI / 2, -PI / 3, 0], "Grasping the side of the camera.")
+    add_contact_point(0.05, [-0.4, -0.08, 0.52], [PI / 2, 0, - PI / 2], "Pointing the shutter.")
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    orientation_point.apply_transform(orientation_point_sphere)
+    orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.1,-0.4,0.3]) @ trimesh.transformations.euler_matrix(PI / 2,0,0)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=1.5)
+    axis.apply_transform(functional_trans_matrix_sphere)
+    scene.add_geometry(axis)
+    scene.add_geometry(functional_sphere)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale, 
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": [functional_matrix],         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/camera_annotated/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/cap/Cap.abc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59aee53ee80202bb3ce01dc348fcb02f2f941c87481a9e6336e332fbfd922611
+size 2769377

objects/cap/Cap.fbx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0b9301c9f8fa742e1374ca35786ab3500ca132451f4d7f37da9d6f651bc5a1
+size 1406240

objects/cap/Cap.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d02a7830e53dfc4fc3dc5b40a899f9e872b571323b471fc70973fc7d2542ca1
+size 4548484